CN108392302A - A kind of ankle foot distortion rectification device and its control method - Google Patents
A kind of ankle foot distortion rectification device and its control method Download PDFInfo
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
- A61F5/0127—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations for the feet
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1409—Hydraulic or pneumatic means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
- A61H2201/501—Control means thereof computer controlled connected to external computer devices or networks
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/08—Other bio-electrical signals
- A61H2230/085—Other bio-electrical signals used as a control parameter for the apparatus
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- Animal Behavior & Ethology (AREA)
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- Rehabilitation Therapy (AREA)
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- Biomedical Technology (AREA)
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Abstract
The invention discloses a kind of ankle foot distortion rectification device and its control methods, belong to the field of medical instrument technology.The present invention combines pressure sensor, EMG sensors and various dimensions gyroscope acceleration transducer, applied in the control of ankle-foot orthosis, plantar nervous arch data, muscle surface bioelectricity, attitude data and acceleration of the wearer under Different Exercise Mode can be effectively acquired, reliable parameter is provided to accurately control.Device of the present invention can assist ankle-joint to control obstacle person, such as rupture of Achilles tendon post-operative recovery, tip-foot, apoplexy, sprained ankle, the training rehabilitation of the patients such as hemiplegia and correction, it is adapted to be careful, hurry up, retreat, upstairs, it goes downstairs and the action features such as turning, realization rectifying walking assists the function of walking.
Description
Technical field
The present invention relates to a kind of ankle foot distortion rectification device and its control methods, belong to the field of medical instrument technology.
Background technology
The Chinese aged is increasing, wherein most the elderly due to shank myasthenia, Calf muscle atrophy, in
Wind, wound, multiple sclerosis etc. lead to ankle motion dysfunction, change lower limb motion mode, gait disturbance occur,
And brain paralysis leads to tip-foot, the child of drop foot, the different degrees of decrease of the ankle motion ability of these patients makes them
Daily life be severely impacted, quality of life decline, they urgently need a kind of active power ankle foot distortion rectification device auxiliary
It helps it to carry out effective rehabilitation training, gradually increase the locomitivity of ankle-joint or restores to normal condition.
State Intellectual Property Office disclosed on 01 08th, 2014 application No. is CN201320293816.9, and entitled one
The utility model patent of the wearable pneumatic lower limb rehabilitation training mechanical device of kind discloses a kind of wearable pneumatic lower limb health
Mechanical device is practiced in refreshment, introduces Pneumatic artificial muscle 11, relative to other lower limb rehabilitation training equipment, which more saves
About energy consumption improves system stability and compliance, significantly reduces the secondary injury to wearer, and reduces device itself
Weight.Dismountable joint designs are innovatively used simultaneously, patient is facilitated to carry use.It has used to quantify and adjust
The lower limb structure of length can be suitable for the patient of different heights.The device is in ankle just with spring production
Raw power auxiliary ankle-joint simply moves, and does not use intelligent control method, can not be provided not for the action of different gaits in real time
Same power-assisted.
State Intellectual Property Office disclosed on 04 20th, 2016 application No. is CN201520912692.7, it is entitled can
The utility model patent of mode ankle-foot orthosis, discloses a kind of adjustable ankle-foot orthosis, including small leg guard, footrest and
Correction regulating device for adjusting small leg guard and footrest angle is between the bottom and the rear end of footrest of the small leg guard
Flexible connection, the correction regulating device include：Swing arm set on the footrest side, the swing arm have front end with after
End, the front-end and back-end of the swing arm are mutually fixed by fixing piece with footrest respectively；If set on the side of the small leg guard
Dry the first fastener, the first all fasteners are arranged successively along the short transverse of small leg guard；The front end of one end and swing arm
It is hinged, the other end of the drawstring is equipped with several second fasteners, and the second fastener can be matched with the first fastener
Form fastening structure.The utility model provides a kind of adjustable ankle-foot orthosis, simple in structure, can easily be accommodated sole song and bends angle
Degree improves orthopedic effect.The device can manually adjust suitable angle according to the actual conditions of wearer, but not use
Power plant actively provides external force, cannot meet the variation of different gait angles.
Invention content
The task of the present invention is to provide a kind of ankle foot distortion rectification device, provide according to the needs of users suitable outer
Power auxiliary walking.
Present invention seek to address that in existing ankle foot distortion rectification device, ankle does not adapt to asynchronous state variation, different people to power
Demand the technical issues of, a kind of ankle foot distortion rectification device and its control method are provided, Pneumatic artificial muscle, sensor and intelligence are passed through
Energy algorithm is combined, and is solved the weight of current ankle foot distortion rectification device, convenient and adaptive control problem, can be substantially met not
With the requirement of patient, while improving wearable property, plantar flexion and the back of the body of the ankle-joint in sagittal plane are realized by external force
Bend movement, assist different patient motion demands, meet wearer advance, retreat, hurrying up, being careful, upstairs, downstairs and turn etc.
Movement gait requirement under different situations, improves property easy to use and practicability.
In order to achieve the above-mentioned object of the invention, technical scheme is as follows：
A kind of ankle foot distortion rectification device is made of control section and drive part, and control section includes：Sensor, control device, on
Position machine, control valve, communication module and signal conditioning circuit.Drive part includes：Air source, tracheae, Pneumatic artificial muscle and orthopedic
Shoes.Sensor is connect with control device, and host computer is connected to control device by communication module, and control device connects control valve, gas
Pipe connects the inlet end of air source and control valve, and the outlet side of control valve is connected to the inlet end of Pneumatic artificial muscle, gas with tracheae
Dynamic artificial-muscle is fixed to orthopedics shank enclosure location.
The ankle foot distortion rectification device can meet different wearers using multiple sensors and use, caused by brain paralysis
Ankle-joint abnormal gait person, EMG sensors cannot acquire its surface electromyogram signal, but pressure or various dimensions gyroscope can be utilized to add
Velocity sensor acquires the initial data of pressure or angle-data as statistical analysis.And other ankle motions are controlled and are hindered
The patient hindered can then use any one or two kinds of acquisition information controlled motions in three kinds of sensors, be passed even with three kinds
Sensor, it is intended to the wearer of the different state of an illness be helped preferably to be trained rehabilitation and auxiliary walking.The corresponding control of three kinds of sensors
Method processed is respectively pressure control, angle control, the control of EMG voltages and additional time control.
EMG sensors are adhered into gastrocnemius, tibialis anterior and musculus soleus at shank with non-intrusion type electrode slice respectively,
The input terminal of EMG sensor output pin connection signal conditioning modules, the output end connection control device of signal conditioning circuit
Input terminal acquires muscle surface bioelectrical signals when lower extremity movement.Using electromyography signal voltage threshold, control device is allowed to export
Different voltage values realizes plantar flexion and the dorsiflex of orthopedics to proportioning valve.
Preferably, EMG sensors of the present invention are installed on three positions, respectively gastrocnemius, tibialis anterior and musculus soleus.
During exercise because of people, this three pieces of muscle of lower limb will produce the faint voltage signal of the different low frequency sinusoidal of amplitude, by electrode
Piece pastes these three positions, and bioelectricity when people's movement can be acquired by EMG sensors and corresponding signal conditioning circuit
Information.
The EMG voltage control methods of above-mentioned ankle foot distortion rectification device, include the following steps：
A. the muscle surface voltage data of leg when control device acquires wearer motion by sensor, and pass through communication module
It is sent to host computer storage；
B. muscle voltage is obtained to the muscle voltage data statistical analysis in step A to change with time relation curve；
C. the change curve in step B is obtained into the muscle voltage for being suitable for given patient and 3 voltage of proportioning valve with intelligent algorithm
Control parameter；
D. control device according to the control parameter output voltage of step C to proportioning valve 3.
E. the voltage change ratio of proportion of utilization valve adjusts the size of gas flow rate, to making Pneumatic artificial muscle generate
Power of different sizes.
Pressure sensor is installed on plantar foot area, the output pin connection signal modulate circuit input of pressure sensor
End, signal conditioning circuit output end connect the input terminal of control device, the foot force signal of acquisition people during exercise.Utilize pressure
The threshold value or pressure of power allow control device to export different voltage and realize orthopedics to proportioning valve with gait cycle changing rule
Plantar flexion and dorsiflex.
Preferably, pressure sensor used in the present invention is PVDF piezoelectric film pressure sensor.
Preferably, pressure sensor of the present invention is arranged three positions, respectively:Second metatarsal bone and os metatarsale tertium it
Between, foot middle part, heel medial.It is because two legs bear itself to people during exercise that pressure sensor, which is arranged in these three positions,
Body wt, and body is mainly distributed on these three positions for the pressure in vola.By the way that pressure is arranged in these three positions
Sensor can effectively acquire plantar pressure information when human motion.
The pressure threshold control method of above-mentioned ankle foot distortion rectification device, includes the following steps：
A. control device acquires wearer's pressure data during exercise by sensor, and is sent to by communication module upper
Machine stores；
B. foot force is obtained to the pressure data statistical analysis in step A to change with time relation curve；
C. the control of the pressure for being suitable for given patient and ratio threshold voltage is obtained using intelligent algorithm to the relation curve in step B
Parameter processed；
D. the control parameter output voltage that control device is obtained according to step C is to proportioning valve.
E. the voltage change ratio of proportion of utilization valve adjusts the size of gas flow rate, to making Pneumatic artificial muscle generate
Power of different sizes.
The voltage of above-mentioned ankle foot distortion rectification device includes the following steps with gait cycle control method：
A. pressure data when control device is by sensor acquisition wearer motion, and be synchronously sent to by communication module
Host computer stores；
B. pressure is obtained to the pressure data statistical analysis in step A to change with time relation curve；
C. the electricity for the control ankle motion for being suitable for specific user is obtained with intelligent algorithm to the change curve in step B
The relation function of pressure and time；
D. control device according to the relation function output voltage of step C to proportioning valve.
E. the voltage change ratio of proportion of utilization valve adjusts the size of gas flow rate, to making Pneumatic artificial muscle generate
Power of different sizes.
Further, pressure of the present invention can be adjusted with the time point in gait cycle control method, adjustment mode
For：Gait parameter is sent to host computer and is pre-processed；And the characteristic value at extraction time interval and voltage, construction feature vector,
Carry out characteristic value fusion；The time interval being suitble in a cycle and voltage value are calculated using genetic algorithm, then these are joined
Number re-writes in control device.
Further, pressure of the present invention with the time point in gait cycle control method can by the APP of mobile terminal into
Row adjustment, the APP of mobile terminal send commands to control device by bluetooth and are updated and respond.
Various dimensions gyroscope acceleration transducer is installed on to the foot of orthopedics, the output end of sensor is connected to control
The input terminal of device, the angle-data of acquisition people during exercise.Using angle threshold, allow control device export different voltage to
Proportioning valve realizes plantar flexion and the dorsiflex of orthopedics.
Preferably, the ankle of orthopedics is arranged in various dimensions gyroscope acceleration transducer by the present invention, it can will be more
Dimension gyroscope acceleration transducer marks the direction of X-axis to be directed toward immediately ahead of tiptoe, and Y direction is vertical with X-direction；It can also
The other installation directions of selection, this depends on the preference of designer.
The effect of various dimensions gyroscope acceleration transducer is to acquire the spatial position angle of moving object, its principle is
Space coordinates are corresponding with human body three-dimensional plane definition, in order to specification the data obtained uniformity, it is specified that X-axis be directed toward just before
Side, Z axis is directed toward surface, and X-axis Y-axis Z axis is orthogonal two-by-two, meets right-handed helix criterion.
The angle control method of above-mentioned ankle foot distortion rectification device, includes the following steps：
A. the data value of foot and ground angle when control device acquires different gaits by sensor, and pass through communication module
It is sent to host computer storage；
B. angle has been obtained to the angle-data statistical analysis in step a to change with time relation curve；
C. the change curve in step b is obtained into the control parameter of the voltage for being suitable for given patient and angle with intelligent algorithm；
D. the control parameter output voltage that control device is obtained according to step c is to proportioning valve 3.
E. the voltage change ratio of proportion of utilization valve adjusts the size of gas flow rate, to making Pneumatic artificial muscle generate
Power of different sizes.
Preferably, the output pin of pressure sensor in the present invention, EMG sensors use signal wire that band shields respectively with
Signal conditioning circuit is connected, and various dimensions gyroscope acceleration transducer uses the signal wire with shielding to connect control device.The present invention
In the connections of three kinds of sensors used the signal wire with shielding, signal interferes with each other between reducing different sensors, improves control
Effect processed.
Orthopedics of the present invention includes shank shell, and foot support portion and its close toe one end are provided with tiptoe set；And lead to
Tumbler connection shin back plate is crossed, and the height and angle of shin back plate can be adjusted by adjusting tumbler.
The present invention overcomes following technical problems：
1. how to realize wearable property and high efficiency
When people's toe is liftoff, need a prodigious tension force effect in sole and shank, ankle-joint realizes that plantar flexion is completed forward
It takes a step, and it is smaller than power needed for plantar flexion from the size for heelstrike completing power needed for dorsiflex to ankle-joint during heeloff,
Pneumatic artificial muscle can generate prodigious pulling force when shrinking, and the power that when stretching, extension generates is relatively small, and from heeloff to toe
Power is the largest needed for during liftoff, so Pneumatic artificial muscle both ends are respectively arranged at the heel of orthopedics and small
On rear side of leg shell, external force is provided for the plantar flexion of ankle-joint and dorsiflex using the stretching motion of Pneumatic artificial muscle.Use ratio valve
The throughput of control into Pneumatic artificial muscle generates contraction and stretching change, and Pneumatic artificial muscle response is fast, efficient, we
Be under control through a large number of experiments artificial-muscle proportioning valve voltage change ratio and produced power relationship.Artificial pneumatic flesh
Meat is bar, and centre is cylindrical airbag, and both ends are aluminum alloy joints, and connector is used for air inlet there are one installation and sides.
This Pneumatic artificial muscle is light-weight, and power-weight ratio is high, intrinsic flexibility is highly suitable as the executing agency of lower extremity movement.
The upper end of artificial-muscle is screwed in L bracket, then after holder perforating is fixed on the shank shin of orthopedics with thin screw
Plate, which is cast with engineering plastics, light-weight, high mechanical strength；One ears ring is installed and is connected in the lower end of artificial-muscle
Fitting, then connect with key screw ears ring with the U-bracket that aluminium alloy is process, also the thin screw of U-bracket perforating is consolidated
It is scheduled at the heel of orthopedics.Pneumatic artificial muscle, orthopedics and fixing bracket total weight are 0.5KG, orthopedics by shank and
Sole two parts utilizing works plastic processing forms, and model fits in the lower limb of people, and comfort level is higher, and also having on orthopedics can
The bandage for adjusting elasticity, facilitates patient to dress.
2. how to realize the comprehensive and accuracy of signal acquiring system
Human body weight mainly acts between the second metatarsal bone of foot and os metatarsale tertium the pressure of sole to people during exercise, in foot
Portion, heel medial can acquire the pressure distribution in people vola during exercise, through analysis so pressure sensor is installed on sole
It can find pressure changes in distribution rule；Various dimensions gyroscope acceleration transducer is installed on acquisition foot at orthopedics ankle to transport
Acceleration, angular speed, attitude data when dynamic, these data can reflect the characteristic rule of Different Exercise Mode；Leg when people moves
Tibialis anterior, gastrocnemius, the musculus soleus in portion be controlled by the nervous system and contractile motion, and human body surface produces before contraction of muscle
Raw faint low frequency bioelectrical signals, the signal magnitude is proportional to muscular force, can express the motion intention of people, so using EMG
Sensor acquisition tibialis anterior, gastrocnemius, musculus soleus surface bioelectrical signals can obtain characterization human motion be intended to letter
Breath.The detailed number that three of the above sensor combination can be obtained more comprehensively to reflect human body lower limbs Kinematics Law and motion mode
According to, and these three size sensors are small, compact-sized, data precision is high, facilitates installation, cost-effective.In order to allow wearer to transport
It is dynamic unrestricted, the data that multiple sensors acquire synchronously are sent to computer using communication module, it is for statistical analysis.
3. how to realize miscellaneous function diversity
Its lower limb has to complete motion mode below the independent people of life energy in daily life, including：Advance, retreat,
It runs, be careful, upstairs, downstairs and turning etc., acceleration, angular speed, attitude angle, the sole of ankle when Different Exercise Mode
There are notable differences for pressure change and the variation of leg muscle surface voltage, these data can be pre-processed and then be utilized
Mean square root method extracts characteristic value, identifies different motion modes with decision tree classifier and automatically real-time calls corresponding movement side
The output voltage of the state modulator proportioning valve of formula, and lower limb be according to time cycle repeating motion, and the same gait week
Power needed for different moments in phase is different, and in order to meet different patient's wearings, we devise two kinds of operating modes：It is based on
The mode of the control mode of time cycle and sensor-based control, patient can select to be suitable for certainly when using the device
Oneself pattern, help its completion advance, retreat, running, being careful, upstairs, downstairs and turning etc. daily routines.
4. how to realize control adaptivity
In order to realize self adaptive control, the collected data of sensor are first pre-processed, extract characteristic value, construction feature to
Amount carries out characteristic value fusion, and recycling neural network algorithm and genetic algorithm, simulation calculation obtains being suitable for spy on computers
Determine the control parameter of user, these parameters are finally re-write into microcontroller.
The advantageous effect that the present invention is brought has：
（One）The present invention combines pressure sensor, EMG sensors and various dimensions gyroscope acceleration transducer, is applied to ankle foot
In the control of orthoses, it can effectively acquire plantar nervous arch data, muscle surface of the wearer under Different Exercise Mode and give birth to
Object electricity, attitude data and acceleration, reliable parameter is provided to accurately control.The device of the invention can assist ankle-joint to control obstacle
Person, such as rupture of Achilles tendon post-operative recovery, tip-foot, apoplexy, sprained ankle, the training rehabilitation of the patients such as hemiplegia and correction adapt to
It is careful, hurries up, retreats, upstairs, downstairs and turning etc. action features, realize rectifying walking, auxiliary walking function.
（Two）The present invention is of great significance in engineering in medicine field, in conjunction with the human body lower limbs characteristics of motion, generates size and closes
Suitable power acts on ankle-joint, is avoided that ankle-joint secondary injury, alleviates the demand of rehabilitation doctor working strength, makes up tradition
The deficiency of rehabilitation equipment improves training rehabilitation effect.
（Three）The present invention is key with intelligent algorithm, and the gait that wearer is adapted to using big data analysis method is special
Sign judges speed, direction and trend firmly in its motion process, artificial pneumatic flesh is controlled with adaptable control parameter
Meat realizes adaptive orthopedic purpose；The thought of intelligent algorithm is applied to realize self adaptive control in the control of the device, because
It reaches its maturity in practice for the modern intelligent algorithm such as genetic algorithm and neural network, so these algorithm energy let us
Device is intelligent, can bring preferable orthopedic effect, use scope wider to wearer.
（Four）When using the device, control device acquires the pressure data of the angle-data of ankle-joint, sole, leg to patient
Portion's muscle surface bioelectricity data send it to the mobile terminal of attending physician by channels such as bluetooth, WIFI, Internet of Things
APP obtains the ankle motion and dynamic curve diagram about patient using algorithm, and doctor can check patient anywhere or anytime
Rehabilitation situation, and provide rational suggestion.Ankle foot patient, it is handicapped, the hardship that patient hurries back and forth is reduced, medical efficiency is improved.
（Five）The present invention has U-shaped mounting bracket at the heel of the device, has L-shaped mounting bracket at shank shin back plate,
And both rack mechanical strengths are high, and it is light-weight, it can easily mount and dismount Pneumatic artificial muscle, U-shaped mounting bracket energy
Allow flexible rotation between shank and foot freely.
（Seven）Pneumatic artificial muscle of the present invention is positioned over shank shell, specific location：Pneumatic artificial muscle one end is fixed on
At orthopedics heel, and the other end is fixed at the shin back plate of orthopedics, can provide sufficiently large external force for realization plantar flexion.
（Eight）Orthopedics used in the present invention includes several parts：Respectively orthopedics shank shell, foot support portion, foot
The bandage of point set, shin back plate and both sides.And shank shell has larger angular mobility range for foot support portion, energy
Allow the unbonded realization dorsiflexion and plantarflexion of user.
（Nine）The higher multiple sensors of cost performance are used, the artificial pneumatic flesh that power/weight is higher, flexibility is good
Meat is applied in ankle foot distortion rectification device, it is ensured that stable, light-weight, the wearable property of device performance is strong.
Description of the drawings
Fig. 1 is the schematic diagram of the present invention.
Fig. 2 is orthopedics schematic diagram.
Fig. 3 is plantar pressure sensor scheme of installation.
Fig. 4 is all power supply connection diagrams of the present invention.
Fig. 5 is the principle of the present invention structure chart.
Fig. 6 is the change curve of voltage change and generation power.
Fig. 7 is that voltage changes over time curve.
Fig. 8 is angle change curve in a gait cycle.
Fig. 9 is change curve of the voltage with gait angle.
Figure 10 is the APP hand adjustment control flow charts of mobile terminal.
Figure 11 is automatic cycle control flow chart.
Figure 12 is automatic control flow chart figure.
Figure 13 is attitude angle and pressure variation table under Different Exercise Mode.
Wherein, 1 is air source, and 2 be tracheae, and 3 be proportioning valve, 4 communication modules, and 5 devices in order to control, 6 be signal conditioning circuit,
7 be orthopedics, and 8 be EMG sensors, and 9 be pressure sensor, and 10 be various dimensions gyroscope acceleration transducer, and 11 be pneumatic people
Work muscle, 12 be mobile terminal, and 18 be foot support portion, and 19 be tiptoe set, and 21 be shin back plate.
Specific implementation mode
The present invention is described in further detail with reference to embodiment, embodiments of the present invention are not limited thereto.
Embodiment 1
The gas outlet of air compressor machine is first connected with one end of a tracheae 2, the other end connects the air inlet of proportioning valve 3, then with one
Tracheae 2 connects the gas outlet of proportioning valve 3, and the other end is connected to the air inlet of Pneumatic artificial muscle 11, forms one so pneumatically
Access；Switching Power Supply 24V direct current outputs terminate to the corresponding positive pole of 3 cable of proportioning valve, and ground wire meets the COM of Switching Power Supply
End.Switching Power Supply 24V DC output ends are connected in parallel on a sufficiently long power cord be connected to TPS5430 power supply moduluss of conversion again
Block, the positive and negative 5V connections sensor signal conditioning module of this module output, then divide two-way to distinguish at the positive ends 5V of TPS5430 modules
Bluetooth module and AMS1117-3.3 modules are connect, the 3.3V direct currents of AMS1117-3.3 modules output are connected to STM32 microcontrollers, when
When Switching Power Supply input terminal is connected to 220V alternating currents, package unit is in power-up state.
3 voltage change of proportioning valve as shown in FIG. 6 and the size curve for generating power, the present invention by gas compressor or
Other modes generate air source 1, send proportioning valve 3 and Pneumatic artificial muscle 11 to by tracheae 2, STM32 microcontrollers change ratio
The voltage change ratio of valve 3 adjusts the size of gas flow rate, to making artificial-muscle generate power of different sizes.3 electricity of proportioning valve
When pressing descending variation the phenomenon that performance exhaust；The phenomenon that air inlet being shown when the ascending variation of 3 voltage of proportioning valve.
The principle of the present invention figure as shown in Figure 5：The gas flow rate transient force that then artificial-muscle generates greatly is bigger, on the contrary
The transient force that the small then artificial-muscle of gas flow rate generates is with regard to smaller, the exhaust of proportioning valve 3 and air inlet, then artificial-muscle execute stretching, extension and
It shrinks, stretch generation is thrust, and shrink generation is pulling force, the two different directions, different size of power can make ankle-joint
The action of plantar flexion and dorsiflex is completed, as long as so the change rate and variation tendency of control 3 voltage of proportioning valve, then can assist ankle to close
People's movement of section control obstacle.
The detailed process that the present invention uses is as follows：With tracheae 2 air source 1, proportioning valve 3 is connected with Pneumatic artificial muscle 11.
Wearer selects working sensor pattern on mobile terminal 12, and the instruction of selected pattern is sent to STM32 by bluetooth
Microcontroller simultaneously responds, and STM32 microcontrollers acquire the data of EMG sensors 8 in real time during the motion, are sent through bluetooth module
It is stored to computer, EMG voltage value time function variation relation curves is obtained with MATLAB statistical analyses, in order to meet difference
The walking habits of user as shown in Figure 10, adjust the corresponding ratio of different gaits in combination with by the APP of mobile terminal 12
The voltage of valve 3 is continually adjusted to the voltage for being suitble to it to walk feature, 3 voltage of proportioning valve and EMG voltage value time functions is become
Change relation curve to correspond to, obtained the functional relation of EMG voltage values and 3 voltage of proportioning valve, establishing an input layer, there are two god
Through member, hidden layer has 12 neurons, and there are one three layers of BP neural networks of neuron for output layer, then EMG voltage values with
For the functional relation of 3 voltage of proportioning valve as the input layer as BP neural network, frequency of training is 500 times, and training objective is
0.01, learning rate 0.1, output layer is voltage, and training bluetooth is sent to the sample data on computer, in order to obtain more preferably
Training result, obtain more suitably weights first with genetic algorithm before training and threshold value be assigned to BP neural network.Finally
The functional relation of the EMG voltages and voltage that are suitble to specific wearer has been obtained, has been written its functional relation as control parameter
STM32 microcontrollers, STM32 microcontrollers acquire EMG signal and are compared with setup parameter in real time, export corresponding voltage value to ratio
Valve 3, the voltage change ratio of proportioning valve 3 changes the gas flow rate into Pneumatic artificial muscle 11, to make Pneumatic artificial muscle 11
Generate power of different sizes.
Embodiment 2
The gas outlet of air compressor machine is first connected with one end of a tracheae 2, the other end connects the air inlet of proportioning valve 3, then with one
Tracheae 2 connects the gas outlet of proportioning valve 3, and the other end is connected to the air inlet of Pneumatic artificial muscle 11, forms one so pneumatically
Access；Switching Power Supply 24V direct current outputs terminate to the corresponding positive pole of 3 cable of proportioning valve, and ground wire meets the COM of Switching Power Supply
End.Switching Power Supply 24V DC output ends are connected in parallel on a sufficiently long power cord be connected to TPS5430 power supply moduluss of conversion again
Block, the positive and negative 5V connections sensor signal conditioning module of this module output, then divide two-way to distinguish at the positive ends 5V of TPS5430 modules
Bluetooth module and AMS1117-3.3 modules are connect, the 3.3V direct currents of AMS1117-3.3 modules output are connected to STM32 microcontrollers, when
When Switching Power Supply input terminal is connected to 220V alternating currents, package unit is in power-up state.
As shown in Figure 3：Three pieces of pressure sensors 9 are fixed on insole, position respectively correspond to the second os metatarsale tertium it
Between, foot middle part, heel medial, insole is positioned over the sole of orthopedics 7 and fixation, the output end band of three pieces of pressure sensors 9
The signal wire of shielding is connected to the input terminal of signal conditioning circuit 6, and output end connects the A/D pins of STM32 microcontrollers, STM32
Microcontroller acquires the pressure data of wearer during exercise in real time, these data are synchronously sent to computer by bluetooth module
Storage is analyzed to obtain the pressure point in the different moments vola in a complete gait cycle and the same gait cycle through Matlab
Cloth rule, the relation curve of the voltage and time of the ankle motion that is under control according to this rule, the D/A of STM32 microcontrollers
Output voltage is to proportioning valve 3, to which the voltage change ratio of STM32 microcontrollers control proportioning valve 3 is just controlled into artificial pneumatic
The gas flow rate of muscle 11 makes Pneumatic artificial muscle 11 produce different power.If the gait cycle of a normal walking is 1.4
Second, it is 0.3 second to be heelstrike laid flat to foot, and voltage changes to 9V from 7V, and it is heeloff 0.6 second that foot, which is leveled to, and voltage is from 9V
Change to 2V, heeloff liftoff to tiptoe is 0.1 second, and voltage changes to 9V from 2V, tiptoe is liftoff land again to heel for
0.4 second, voltage changed to 7V from 9V.It is Discrete Nonlinear that the above voltage, which changes over time,.
In order to reach better control effect, the gait cycle that one is walked is divided into four parts, each some discrete
At 20 points, the time interval and voltage value of acquiescence is first arranged in each point.
The APP of the APP period modulation flow charts of mobile terminal 12 as shown in Figure 10, mobile terminal 12 will be ordered by bluetooth
Order is sent to STM32 microcontrollers and is updated and responds.Wearer can be on the APP of mobile terminal 12 from each portion of main modulation
The time interval for detaching scatterplot can thus adjust gait cycle and be moved with the people for meeting different cadences.Etc. specific wearer
When being adjusted to be suitble to the walking habits of oneself, gait parameter is sent to computer through wireless blue tooth and is pre-processed, and when extracting
Between interval and the characteristic value of voltage, construction feature vector carries out characteristic value fusion, and genetic algorithm, which calculates in a cycle, to be suitble to
Time interval and voltage value, i.e., characteristic value, target carries out chromosome coding as an optimization, carry out 50 iteration realize selection,
Intersect, variation obtains meeting the chromosome of optimization aim, and last chromosome decodes to obtain decimal system parameter, and to re-write STM32 mono-
Piece machine, automatic cycle control flow chart are as shown in figure 11.This control strategy is to manually adjust intelligent algorithm and mobile terminal 12
Mode is combined realization self adaptive control, and different wearers can be assisted to walk freely according to the walking rhythm of oneself.
Embodiment 3
The gas outlet of air compressor machine is first connected with one end of a tracheae 2, the other end connects the air inlet of proportioning valve 3, then with one
Tracheae 2 connects the gas outlet of proportioning valve 3, and the other end is connected to the air inlet of Pneumatic artificial muscle 11, forms one so pneumatically
Access；Switching Power Supply 24V direct current outputs terminate to the corresponding positive pole of 3 cable of proportioning valve, and ground wire meets the COM of Switching Power Supply
End.Switching Power Supply 24V DC output ends are connected in parallel on a sufficiently long power cord be connected to power conversion module again, this module
Output positive and negative 5V connections sensor signal conditioning module, then the positive ends 5V of this module divide two-way connect respectively bluetooth module with
The 3.3V direct currents of 3.3V voltage reduction modules, the output of 3.3V voltage reduction modules are connected to STM32 one-chip computer modules, when Switching Power Supply input terminal
When being connected to 220V alternating currents, package unit is in power-up state.
Various dimensions gyroscope acceleration transducer 10 is installed on to the ankle of orthopedics 7, the X marked on the sensor
Axis direction is directed toward immediately ahead of tiptoe, and Y direction is vertical with X-direction, and the letter of sensor is finally connected with the signal wire with shielding
Number delivery outlet（SDA pins and SCL pins）With STM32 single-chip microcomputer signals input port, the package unit when connecting 220V alternating currents
It can work normally.When wearer puts on device normal walking, STM32 microcontrollers acquire in real time different gaits get a foothold with
The data value of ground angle is simultaneously synchronously sent to computer through wireless blue tooth, using being obtained after MATLAB statistical analyses
The variation rule curve of foot and ground angle in one gait cycle, in order to allow monolithic function to handle minus data, we
It is handled as having done one：Original data are multiplied by 100, last gained all just plus 10,000 obtained data
Angle change curve is as shown in Figure 10.The walking of specific people is controlled in order to find suitable voltage value, we first use manual
Adjust the respective value that the mode of parameter has obtained angle value and the D/A output voltages of STM32 microcontrollers as shown in Figure 9.STM32 monolithics
The D/A output voltages of machine are to proportioning valve 3, to which the voltage change ratio of STM32 microcontrollers control proportioning valve 3 is just controlled into gas
The gas flow rate of dynamic artificial-muscle 11, makes Pneumatic artificial muscle 11 produce different power.For example, be heelstrike laid flat to foot,
Angle value changes to 10000 by 12000, and voltage value changes to 4.5V by 7V；Foot is leveled to heeloff, and angle value is by 10000
9000 are changed to, voltage value changes to 2V again to 4.5V by 4.5V；Heeloff liftoff to tiptoe, angle value is by 9000 variations
To 6500, voltage value changes to 9.2V by 4.5V；Tiptoe is liftoff to land again to heel, and angle changes to 12000 by 6500,
Voltage value changes to 7V by 9.2V.
The APP voltages of mobile terminal 12 as shown in Figure 10 adjust flow chart, and the APP of mobile terminal 12 will be instructed through bluetooth
It is sent to STM32 microcontrollers and responds.In order to allow device to meet the walking habits of different people, permission wearer adjusts self, I
Mobile terminal 12 four options of APP interface settings, respectively sole lands, foot is laid flat, heeloff, tiptoe pedals ground
Four important gaits, each gait correspond to the voltage value of acquiescence, and user can change the voltage value of acquiescence to oneself transporting
Until feeling comfortable when dynamic.The data such as foot gesture acceleration, angle, time when simultaneously by wearer motion are sent out by bluetooth
It send to computer, establishes an input layer there are two neuron, hidden layer has 8 neurons, and there are one neurons for output layer
Three layers of BP neural network.Using angle and acceleration as the input variable of network, output quantity is voltage, and frequency of training is 100 times,
Training objective is 0.01, learning rate 0.1, and training bluetooth is sent to the sample data on computer, in order to obtain preferably
Training result obtains more suitably weights first with genetic algorithm before training and threshold value is assigned to BP neural network.Finally
The parameter for being suitble to the angle and voltage of specific wearer has been arrived, then parameter is re-write STM32 microcontrollers, has realized adaptive rectify
Shape and the purpose helped away, automatic angle control flow chart are as shown in figure 12.
Embodiment 4
The gas outlet of air compressor machine is first connected with one end of a tracheae 2, the other end connects the air inlet of proportioning valve 3, then with one
Tracheae 2 connects the gas outlet of proportioning valve 3, and the other end is connected to the air inlet of Pneumatic artificial muscle 11, forms one so pneumatically
Access；Switching Power Supply 24V direct current outputs terminate to the corresponding positive pole of 3 cable of proportioning valve, and ground wire meets the COM of Switching Power Supply
End.Switching Power Supply 24V DC output ends are connected in parallel on a sufficiently long power cord be connected to power conversion module again, this module
Output positive and negative 5V connections sensor signal conditioning module, then the positive ends 5V of this module divide two-way connect respectively bluetooth module with
The 3.3V direct currents of 3.3V voltage reduction modules, the output of 3.3V voltage reduction modules are connected to STM32 microcontrollers, when Switching Power Supply input terminal connects
When to 220V alternating currents, package unit is in power-up state.
Three pieces of pressure sensors 9 are fixed on insole, position respectively correspond to the second os metatarsale tertium between, foot middle part,
Heel medial, insole are positioned over the sole of orthopedics 7 and fixation, signal of the output end with shielding of three pieces of pressure sensors 9
Line is connected to the input terminal of signal conditioning circuit 6, and the A/D that the output end of signal conditioning circuit 6 is connected to STM32 microcontrollers draws
Foot;Various dimensions gyroscope acceleration transducer 10 is fixed on ankle, and the X-direction marked on the sensor is directed toward tiptoe
Front, Y direction is vertical with X-direction, the signal output of various dimensions gyroscope acceleration transducer 10（SDA pins and
SCL pins）It is connected with STM32 single-chip microcomputer signals input port；It is attached to the tibialis anterior of wearer, sura respectively with three electrode slices again
On flesh and musculus soleus, it is used in combination the signal conditioning circuit 6 of dedicated one point of three signal wire connection electrode piece and EMG sensors 8 defeated
Enter end, the output pin of the signal conditioning circuit 6 is connected to the A/D pins of STM32 microcontrollers.It is whole when connecting 220V alternating currents
Covering device can work normally.
When wearer puts on device normal walking, can acquire simultaneously foot and ground angle, plantar pressure data and
The flexible bioelectrical signals generated of muscle.These data can react people's gait information when walking and the characteristics of motion comprehensively, can
Realization accurately controls.The D/A output voltages of STM32 microcontrollers are to proportioning valve 3, to the electricity of STM32 microcontrollers control proportioning valve 3
Buckling rate then controls the gas flow rate into Pneumatic artificial muscle 11, and Pneumatic artificial muscle 11 is made to produce different power.
If being heelstrike laid flat to foot, angle value changes to 10000 by 12000, and tiptoe pressure value changes to 1200, foot center by 0 and presses
Force value by 0 changes to 1000, heel pressure value and changes to 1000, myoelectricity voltage value by 1800 changes to 4000 by 2000, electricity
Pressure value changes to 4.5V by 7V；Foot is leveled to heeloff, and angle value changes to 9000 by 10000, and tiptoe pressure value is by 1200
It changes to 2000, foot center pressure value and changes to 1500, heel pressure value by 1000 and change to 200, myoelectricity voltage by 1000
Value changes to 4000 by 2000, and voltage value changes to 2V again to 4.5V by 4.5V；It is heeloff liftoff to tiptoe, angle value by
9000 change to 6500, and tiptoe pressure value changes to 1800, foot center pressure value by 2000 and changes to 1000, heel by 1500
Pressure value changes to 0, myoelectricity voltage value by 200 and changes to 4000 by 3000, and voltage value changes to 9.2V by 4.5V；Tiptoe is liftoff
It lands again to heel, angle value changes to 12000 by 6500, and tiptoe pressure value changes to 500, foot center pressure value by 1800
Change to 200, heel pressure value by 1000 and change to 1800, myoelectricity voltage value by 0 and change to 3500 by 2500, voltage value by
9.2V changes to 7V.
The APP voltages of mobile terminal 12 as shown in Figure 10 adjust flow chart, and the APP of mobile terminal 12 will be instructed through bluetooth
It is sent to STM32 microcontrollers and responds.In order to allow device to meet the walking habits of different people, permission wearer adjusts self, I
Mobile terminal 12 four options of APP interface settings, respectively sole lands, foot is laid flat, heeloff, tiptoe pedals ground
Four important gaits, each gait correspond to the voltage value of acquiescence, and user can change the voltage value of acquiescence to oneself transporting
Until feeling comfortable when dynamic.Foot gesture acceleration, angle, time, plantar pressure value, myoelectricity when simultaneously by wearer motion
The data such as voltage value are sent to computer by bluetooth, then establish an input layer there are three neuron, hidden layer has 12
Neuron, there are one three layers of BP neural networks of neuron for output layer.Using angle, foot force and myoelectricity voltage as network
Input variable, output quantity are voltage, and frequency of training is 200 times, training objective 0.01, learning rate 0.1, training bluetooth hair
The sample data being sent on computer is calculated first with genetic algorithm before training in order to reach better training result
More suitably weights and threshold value are assigned to BP neural network.It finally obtained the angle, pressure, myoelectricity and electricity of suitable specific wearer
The parameter of pressure, then parameter is realized purpose that is adaptive orthopedic and helping away, automatic control flow chart from new write-in STM32 microcontrollers
Figure is as shown in figure 12.
Claims (8)
1. a kind of ankle foot distortion rectification device, it is characterised in that：The drive part of driving force is worn and can generated including carrier can be carried out；
It further include the control section of adjustable driving force size or/and angle；The drive part changes under the adjusting of control section
Driving force, and drive the carrier movement for wearing drive part.
2. ankle foot distortion rectification device as described in claim 1, it is characterised in that：The control section includes sensor, control dress
Set (5), host computer, control valve, communication module (4) and signal conditioning circuit (6)；The drive part includes air source (1), tracheae
(2), Pneumatic artificial muscle (11) and orthopedics (7)；The sensor is connect with the control device (5)；The host computer by
The communication module (4) is connected to the control device (5)；The control device (5) connects the control valve；The control valve
Inlet end the air source (1) is connected by the tracheae (2), the outlet side of the control valve is connected to gas by the tracheae (2)
The inlet end of dynamic artificial-muscle (11)；The Pneumatic artificial muscle (11) is fixed to the orthopedics (7) shank enclosure location.
3. ankle foot distortion rectification device according to claim 2, it is characterised in that:The sensor includes EMG sensors
(8), pressure sensor (9) and various dimensions gyroscope acceleration transducer (10)；By EMG sensors (8), pressure sensor (9)
The position of lower extremity movement information can be acquired by being installed on various dimensions gyroscope acceleration transducer (10) wherein at least one.
4. ankle foot distortion rectification device according to claim 2, it is characterised in that：The control device (5) includes microprocessor
Device；The microprocessor is arm processor, STM32 microcontrollers, 51 microcontrollers or AVR single chip；The control device (5) is defeated
Go out controlled quentity controlled variable to control valve, control into the throughput of Pneumatic artificial muscle (11), keep Pneumatic artificial muscle (11) flexible to
Back of the body song and the plantar for controlling orthopedics (7) are bent；The control valve is proportioning valve (3), solenoid valve or pneumatic operated valve.
5. ankle foot distortion rectification device according to claim 2, it is characterised in that：The control device (5) acquires sensor
Signal sends signal to host computer through communication module (4), carries out storage and statistical analysis；The communication module (4) is bluetooth
Module, Zigbee module or wifi module.
6. ankle foot distortion rectification device according to claim 2, it is characterised in that：The orthopedics (7) include shank shell,
Foot support portion (18), tiptoe set (19), the bandage of shin back plate (21) and both sides.
7. a kind of control method of ankle foot distortion rectification device as claimed in claim 2, it is characterised in that：With data processing software point
Analyse host computer data, obtain pressure, angle, EMG voltages at any time or voltage with gait cycle variation function relation curve,
Again using obtained functional relation as input, parameter is controlled appropriately by intelligent algorithm, finally control parameter read-in
Control device (5), control device (5) export controlled quentity controlled variable and control control valve.
8. control method according to claim 7, it is characterised in that：The intelligent algorithm is：Establish multilayer
Neural network, using obtained function relation curve as input layer, hidden layer is set as multiple neurons, complete using genetic algorithm
The characteristic of office's optimizing calculates the best initial weights of hidden layer, and output layer exports suitable control parameter.
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| CN113520792A (en) * | 2021-07-14 | 2021-10-22 | 秦皇岛市第一医院 | Foot drop patient rehabilitation training robot based on myoelectric signals |
| CN114680424A (en) * | 2022-04-14 | 2022-07-01 | 浙江大学 | Dynamically-adjusted flexible arch-ankle system and control method thereof |
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