JP3184447U - Non-grounded ankle treatment and measurement exoskeleton type device - Google Patents

Abstract

An ungrounded ankle treatment and measurement exoskeleton device, which is a force feedback exoskeleton device for a human ankle, which is a force feedback exoskeleton device based on a parallel mechanism.
A base platform 2 facing an operator's leg, a movable platform 3 facing an operator's foot, a connection member 4 connecting the base platform 2 and the movable platform 3, and the connection member 4 to the movable platform 3. And a joint member 5 to be connected.
[Selection] Figure 1

Description

  The present invention relates to an ungrounded, reconfigurable, parallel mechanism based force feedback exoskeleton device for human ankles. The main application of the device is intended to be a balance / propriosensory trainer, and the exoskeleton device can also be used to accommodate range of motion (RoM) training / strengthening training. This device is also used for metatarsophalangeal joint movement.

  The purpose of rehabilitation is to restore the patient's motor, sensory, and neural abilities that have been reduced by illness or injury. Generally, ankle rehabilitation is required after ankle sprain, which is the most common injury in sports and daily life (see Non-Patent Document 1). Loss of functionality, ability to support weight, and joint stability in the ankle also occurs after nerve damage secondary to stroke and contracture deformity secondary to cerebrovascular disease. Physiotherapy training assists in restoring joint range of motion, re-strengthening the muscles that support weight, enhancing good sense of joint position (proprietary sensation), ensuring nerve integrity, and movement. It is indispensable to restore the balance.

  In general, rehabilitation of ankle injury is dealt with in three consecutive training stages (see Non-Patent Documents 2 and 3). Training at an early stage focuses first on enabling full RoM of the joint and then on strengthening the ankle muscles. Once the required RoM and flexibility are obtained and the muscles are strong enough to support a portion of the weight without inducing pain, the intermediate phase of treatment begins and static balance exercise Can focus on improving the inherent sensory ability. In the final stage of treatment, practice more advanced dynamic balance exercises.

  Traditional rehabilitation devices used to support physiotherapy are as simple as elastic bands and ankle rehabilitation athletic shoes for strength training and stretching exercises; balance boards and foam rollers for proprioception and balance exercises; It is a passive instrument. RoM training is typically performed manually by a therapist. While this type of instrument is simple and cost effective, these traditional instruments collect quantitative measurements of patient recovery, monitor patient history for reassessment, and customized interactive It is not enough to realize a simple treatment protocol. The therapist needs to pay close attention to the patient by taking the physical burden of exercise therapy while exercising with these instruments.

  In recent years, rehabilitation training has been performed with the help of robotic devices. Repetitive and physically complex rehabilitation training using robotic devices not only eliminates the physical burden associated with therapist's exercise therapy, but also helps reduce usage-related costs. Robotic rehabilitation therapy also allows quantitative measurement of patient recovery and can be used to implement customized interactive treatment protocols.

  The beneficial effects of a robot-assisted rehabilitation protocol have been demonstrated for conventional therapies through clinical trials of Non-Patent Document 4. Various designs have been proposed to date with the recognition that a robot-assisted rehabilitation device for ankle physical therapy is necessary. Girone et al. Have proposed a force feedback interface called Rutgers Ankle based on the Stewart platform (see Non-Patent Document 5). In Non-Patent Document 6, an interactive training protocol based on virtual reality using Rutgers ankle is implemented in orthopedic rehabilitation. The system is further studied in Non-Patent Documents 7 and 8 through several case studies. In Non-Patent Document 9, ankle remote rehabilitation at home is performed, and in Non-Patent Document 10, the system is extended to a dual Stewart platform configuration used for gait simulation and rehabilitation.

  In Non-Patent Document 11, Dai et al. Have proposed another robot apparatus for treating ankle sprains. Unlike the Stewart platform design, this device achieves sufficient degrees of freedom (DoF) to cover the human ankle adaptive workspace. The dynamic static analysis shown in this non-patent document emphasizes the importance of adopting a central strut to achieve higher stiffness for the device. In Non-Patent Document 12, Agrawal et al. Proposed a short leg brace for robot-assisted rehabilitation, and presented dynamic static analysis and control for the proposed mechanism. Similarly, Non-Patent Document 13 proposes Anklebot that assists recovery of ankle function by Roy et al. This device can also be used to measure ankle stiffness, a significant biomechanical factor for exercise.

  Syrseloudis and Emiris studied the translation and rotation RoM of the ankle and foot through the subject, and a parallel tripod mechanism with an additional axis of rotation in series is the kinematics of the foot associated with the human ankle. The conclusion was reached that this is the most appropriate kinematic design that fits (see Non-Patent Document 14). In Non-Patent Document 15, Yoon and Ryu propose a footpad device based on a hybrid 4DoF parallel mechanism and present a kinematic analysis of the novel device. In Non-Patent Documents 3 and 16, this work has been extended to allow reconfiguration of the device to support several individual modes of motion.

H. Tropp and H.M. Alaranta, Sport Industries: Basic Principles of Prevention and Care, Propriation and coordination training in innovation. Oxford, 1993. D. Hung, M.M. Kennedy, A.D. Rowland, J.M. D. Purdy, and M.M. Yampolsky, “Ankle rehabilitation: Evidence-based approach,” Vanderbilt Rehabilitation Services. J. et al. Yoon, J. et al. Ryu, and K.K. Lim, “A novel reconfigurable ank rehabilitation robot for various exotic models,” Journal of Robotic Systems, Current Journals of Current Journals. 22, no. 1, pp. 15-33, 2006. R. Ekelenkamp, P.M. Veltink, S .; Stramigioli, and H van der Kooij, “Evaluation of a virtual model for the selective support of the role of the funtions used in the world.” ICORR2007. IEEE 10th International Conference on, pp 693-699, June 2007 M.M. Giron, G.G. Burdea, and M.M. Bouzit, “The Ruggers Anglet orthopedic rehabilitation interface,” in Processing of the ASME Haptics Symposium, vol. 67, 1999, pp. 305-312. M.M. Giron, G.G. Burdea, and M.M. Bouzit, V.M. Popescu, and J.M. Deutsch, "Orthopedic rehabilitation using the Ruggers Angle interface," in Proceedings of Virtual Reality Medicines, 2000. 89-95. J. et al. E. Deutsch, J. et al. Latonio, G. Burdea, and R.M. Boian, “Rehabilitation of Musculare Injuries using the Ruggers ankle haptic interface, Three cases of Europe, 1, in Proceedings of Europe. 93-98 J. et al. E. Deutsch, J. et al. Latonio, G. C. Burdea, and R.M. Boian, “Post-stroke rehabilitation with the Ruggers ankle system: A case study,” Presence: Teleoper. Virtual Environ. , Vol. 10, no. 4, pp. 416 ^ 130, 2001. M.M. Giron, G.G. Burdea, M.M. Bouzit, V.M. Popescu, and J.M. E. Deutsch, “A Stewart platform-based system for an ankle telehabitation,” Autonomous Robots, vol. 10, no. 2, pp. 203-212, 2001. R. F. Boian, M.M. Bouzit, G. C. BURDEA, J.A. Lewis, and J.A. E. Deutsch, “Dual Stewart platform mobility simulator,” in Proceedings of the ICOR 2005, 9th International Conference on Remobilization Robots, 2005. 550-555. J. et al. S. Dai, T .; Zhao, and C.M. Nester, “Sprained ankle physiotherapy based mechanical synthesis and stiffness analysis of a robotic rehabilitation device.” Auton. Robots, vol. 16, no. 2, pp. 207-218, 2004. A. Agrawal, S.M. Banala, S.M. Agrawal, and S.A. Binder-Macleod, “Design of a two-degree-of-freedom ankle-foot orthosis for robotic rehabilitation,” Rehabilitation Robotics, 2005. ICORR 2005. 9th International Conference on, pp. 41-44, June-1 July 2005 A. Roy, H.C. Krebs, S.M. Patterson, T.W. Juddkins, I.D. Kanna, L .; Forester, R.A. Macko, and N.M. Hogan, “Measurement of human ankle stiffness using the Anklebot,” Rehabilitation Robotics, 2007. ICORR 2007. IEEE 10th International Conference on, pp. 356-363, June 2007. C. E. Syrseloudis, I.M. Z. Emiris, C.I. N. Maganaris, and T.M. E. Lilas, “Design framework for a simple robotic evaluation and rehabilitation device,” Engineering in Medicine and Biology Society, 2008. EMBS 2008. 30th Annual International Conference of the IEEE, pp. 4310-4313, AUG. 2008. J. et al. Yoon and J.M. Ryu, “A new family of hybrid 4-DoF parallel mechanisms with two platforms and it's application to a footpad device,” Journal of Sports. 22, no. 5, pp. 287-298, 2005. “A novel reconfigurable ankle / foot rehabilitation robot,” Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005, IEEE International Conference on, pp. 2290-2295, April 2005.

  Accordingly, an object of the present invention is to provide an apparatus having a reconfigurable design. Its implementation is simple and the device can be built from a collection of commercially available parts. Because of its reconfigurability, the device allows for both RoM training / strengthening training and balance / propriosensory movements.

  According to an embodiment of the present invention, the device can cover the entire complex area of a person's ankle in the case of RoM training / strengthening training. The device can support a person's weight during balance / propriosensory movements. The reconstructable design of the base plate also allows metatarsophalangeal joint movement.

  According to an embodiment of the present invention, the device can be used as a clinical measurement tool. To aid diagnosis, movement, force, and impedance at the ankle level can be measured.

  According to an embodiment of the invention, the device is ergonomic and allows full range of motion of the human ankle. The device is lightweight and wearable and is therefore portable. The device is inherently safe due to the choice of its actuator.

  According to an embodiment of the present invention, the device has a higher control capability than a similar device due to its parallel kinematic structure and optimized throughput.

  According to embodiments of the present invention, the device supports complex movements of the foot and is not limited to a single degree of freedom similar to that of many existing designs.

  According to an embodiment of the present invention, the device is programmed and implemented using a computer system to guide, assist, or resist the patient when performing physical therapy. Support and resistance levels can be adjusted by software. The device can also be programmed to evaluate ankle parameters, such as ankle conditions and impedance.

  The device according to the present invention includes a rehabilitation robot, robot-assisted rehabilitation, physical therapy device, force feedback exoskeleton structure, medical tactile interface, clinical measurement device, ankle rehabilitation system, ankle leg orthosis, ankle physical therapy rehabilitation Related to devices, devices for evaluating ankle function, and ankle impedance measurements.

It is a perspective view of the exoskeleton type device of the present invention. It is a side view of an exoskeleton type device of 3UPS composition. It is a perspective view of an exoskeleton type device which operates as a 3RPS mechanism. FIG. 3 is a perspective view of an exoskeleton-type device when operating as a 3UPS mechanism, with the center link indicating the human foot and ankle. It is a perspective view in the unlocked position of the joint member used for an exoskeleton type device. It is a perspective view in the locked position of the joint member used for an exoskeleton type device. It is a block diagram of the robust position control apparatus provided with the reaction torque monitoring apparatus.

  The following description of the preferred embodiments is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses.

A movable platform 2 facing the operator's foot;
A base platform 3 facing the operator's leg;
A connecting member 4 for connecting the base platform 3 and the movable platform 2;
An ankle treatment and measurement exoskeleton device 1 comprising:

  The exoskeleton device 1 further includes a joint member 5 that connects the connection member 4 to the base platform 3. The exoskeleton-type device 1 can support two different types of movements, namely RoM training / strengthening training and balance movement / propriosensory movement, independently of each other, with the help of the articulating member 5. The articulating member 5 can be selectively in different modes. In a preferred embodiment of the present invention, the joint member is switched between a universal joint and a rotary joint.

  In a preferred embodiment of the present invention, the connecting member 4 is connected to the movable platform 2 by using a spherical joint.

  The ankle joint can be modeled as a spatially continuous kinematic chain with two rotational joints (RR): an upper ankle joint and a subtalar joint. Its upper ankle joint supports rotational dorsiflexion / plantar flexion movement, while its subtalar joint supports rotational supination / pronation movement. A gyrus / inward rotation is a complex motion that has both a varus / valgus component and an abduction / inversion component.

  The kinematic chain used in the preferred embodiment of the present invention is a closed kinematic chain (parallel mechanism). The closed kinematic chain functions as an exoskeleton when an operator wears the device 1 and enables and supports the natural movement of a human joint. The closed kinematic chain exhibits a compact design with high rigidity and has a low effective inertia. The closed kinematic chain actuator can be grounded or can be placed on a member of a mechanism that is subject to low acceleration.

  The closed kinematic chain used in the present invention can be used as at least two different mechanisms with the help of the articulating member 5. As a result, the device 1 has a reconfigurable characteristic. In a preferred embodiment of the present invention, the device is independent of each other, 3UPS (universal, prismatic, spherical) and 3RPS (revolute, prismatic, spherical). (Spherical)) as a mechanism.

  In a preferred embodiment of the present invention, the joint member 5 is a reconfigurable joint that can be selectively used in the unlocked and locked positions. In the unlocked position, the reconfigurable joint 5 can rotate freely about the two axes A, B. The first axis A is tangential to the base plate 3, while the second axis B is perpendicular to the base plate 3. When the joint 5 is not locked, the series of rotary joints function as a universal joint that rotates around the desired axis. When the second joint axis B is locked, the reconfigurable joint 5 is restricted to function as a rotary joint that can rotate freely only about the first axis A. Thus, the reconfigurable joint 5 can be reconfigured from a 3UPS mechanism to a 3RPS mechanism, and vice versa.

  The connecting member 4 basically includes a drive unit 6 and a movable element 7. The drive unit 6 can apply the necessary force to the movable element 7, so that the movable element 7 can move. In a preferred embodiment of the invention, the drive unit 6 is an electric motor, whereas the movable element 7 is at least one extension link.

  When using a closed kinematic chain as a 3UPS mechanism, the reconfigurable joint 5 is in an unlocked position, in other words, the joint can freely rotate about the desired axes A, B. Operates as a universal joint. In addition, the operator's leg acts as the central link of the mechanism, in other words, the operator's ankle becomes a member of the mechanism. In a preferred embodiment of the present invention, the mechanism is a symmetrical 3UPS mechanism, in which the universal joint 5 and spherical joint are spaced 120 ° along the perimeter of the base platform 3 and the movable platform 2. . When worn by the user, the 3UPS mechanism attached to the person's ankle has two degrees of freedom (DoF) corresponding to the coupled motion of the movable platform 2 relative to the fixed base platform 3. The length of the extension link 7 operates to control these DoFs. The movable platform 2 is at a distance z from the base platform 3 and cannot translate at right angles to the vertical axis through the base 2. Even if the operator is completely passive, the two DoF 3UPS mechanisms have three working joints, ie, redundant mechanisms. This redundancy can be used to increase the effective operating range of the device 1 because the singularity can be resolved when the device 1 approaches a singular point within its operating range.

  When a closed kinematic chain is used as the 3RPS mechanism, the reconfigurable joint 5 is in a locked position, in other words, rotational movement of the joint 5 around the second axis B is prevented. The reconfigurable joint 5 operates as a rotary joint and its axis of rotation is oriented in a direction along the tangent to the base platform 3. The base platform 3 is attached to the center of the upper calf of the leg via a passive rotary joint to allow internal / external rotation of the foot. In a preferred embodiment of the present invention, the mechanism is a symmetric 3RPS mechanism, in which the rotating joint 5 and its spherical joint are spaced 120 ° along the perimeter of the base platform 3 and the movable platform 2. Yes. The 3RPS mechanism has three degrees of freedom corresponding to the height z. The length of the extension link 7 acts to control these DoFs. The movable platform 2 is capable of limited translational movement perpendicular to the vertical axis through the base platform 3, but there is no singularity for the limiting value for the rotational joint angle.

  If the closed kinematic chain is in 3UPS mode, the device 1 can be used as a RoM training / strengthening training device, while if it is in 3RPS mode, it is a balance / propriosensory motor device. As can be used.

  The coupling between the exoskeleton device 1 and the operator is flexibly configured to ensure safety and to allow for small joint displacements and small modeling imperfections. If the movement of the device 1 contradicts the natural movement of the ankle, its flexibility allows the relative movement of the person's limb relative to the device 1.

  In one embodiment of the present invention, the weight of the device 1 is distributed over the center of the upper leg and upper calf by a tight strap around the knee.

  In another embodiment of the present invention, the weight of the device 1 can be distributed throughout the body by hanging the device 1 from the operator's shoulder.

  The exoskeleton device 1 further includes a control unit (not shown) and at least two sensors (not shown). One of these sensors measures the length of the connecting member 4, while the second sensor measures the amount of axial rotation of the joint member 5. The measured data of these elements are processed by the control unit to calculate the configuration of the device 1 and to determine the forces acting on the device 1. Specifically, the forward kinematics of the device 1 is used to calculate the shape configuration of the movable platform 2, while the reaction torque monitoring device is executed by software to determine the force acting on the device 1. The dynamics of the device 1 are used.

  In order to determine the ankle parameter, the length of the kinematic chain link 7 as well as the rotational axis of the rotary joint must be known. Measuring an operator's bone length is relatively easy because an ankle x-ray image can be examined to obtain a fairly accurate judgment. However, since the movement of the ankle depends on the size and direction of the foot bone and the shape of the joint surface, it is difficult to measure the rotation axis. By examining the X-ray image, only the direction determination of the joint axis can be obtained. In order to examine ankle movement, a more accurate determination of the joint axis is desired, and such a determination can be made with data collected by the exoskeleton device.

  Given a good judgment regarding bone length, the axis of rotation of the rotating joint of the person's ankle instructs the operator to perform a free RoM movement and on the extension link 7 and preferably on the joint member 5. It is possible to measure by collecting position data from the three rotation sensors arranged at. Once the data is available, the forward kinematics of the 3UPS mechanism geometry configuration level for the geometry of the movable platform 2 at each time is solved. Once the foot shape configuration is recorded, the shape configuration for the two link RR manipulators having an unknown rotational joint axis (indicating a human ankle) relative to the rotational joint axis and the amount of rotation about the three axes. Level inverse kinematics is solved.

  For the combined 3UPS-RR system (exoskeleton type device connected to the human ankle), the forward kinematics and inverse kinematics of the motion level and the dynamic characteristics of the exoskeleton type device 1 only. As a premise, a robust position control device with a reaction torque monitoring device can be implemented to reveal the ankle dynamics. Specifically, the exoskeleton-type device 1 can use a robust position control device to command the ankle to follow a desired trajectory, but during this operation the unknown kinetics of the ankle The disturbance force by can be determined. In the implementation of the control device, to ensure that the disturbances acting on the system are simply due to the unknown dynamics of the ankle, the forces of known dynamics on the exoskeleton device 1 are fed. Added to the system in a forward manner. Under such control, the force commanded by the controller will counteract the unmodeled dynamics of the ankle. Therefore, the actuator force can be associated with the ankle joint torque, and assuming that all other disturbances are relatively small, these torques are estimates close to the actual joint torque from ankle dynamics. Bring.

  The exoskeleton-type device 1 can perform a passive motion mode, an active motion mode, a support motion mode, and a resistance motion mode. Virtual tunnels and force fields inside these tunnels can be implemented to enable safe training with assistance and resistance.

  The 3UPS configuration device 1 allows all possible movements of the ankle in its full range of motion and can therefore be used for clinical measurements. First, the device can be used to measure a patient's range of motion. As the patient moves his or her ankle, the device can measure and record this movement over time (trajectory). Given that measured movement over time, how quickly the patient completed the movement, the amount of error included with respect to the reference trajectory, and how smooth or intermittent the movement was. It is possible to judge whether or not. Since the kinematics of the device 1 is known, it is also possible to correlate the measured shape configuration change with ankle joint rotation. This ability allows measurement of the direction, speed, and smoothness of ankle movement. Joint motion synergies and synergistic effects can also be detected from these measurements.

  As described above, by using a robust position control device and instructing the exoskeleton device 1 to follow a desired trajectory, during this operation, disturbance forces due to unknown kinetics of the ankle are generated. It is possible to judge. These forces can also be correlated to the ankle joint torque using ankle kinematics. This measurement method can be used to measure the maximum joint torque that a patient can affect the impedance and condition of the patient's ankle, whatever the ankle shape is. Specifically, if the robust position controller gain is set to remain in any reference configuration and asks the patient to apply maximum torque to his or her ankle, In order to determine the foot joint torque of a person around the relevant axis, the disturbance force acting on the control device can be associated with the joint torque. Given the pre-designated reference trajectory in the case of the robust position control device, the joint torque can be determined at each time, and the relationship between the rotation of the joint and the joint torque is It can be used to determine impedance and / or status.

  In another embodiment of the present invention, an ungrounded, wearable, reconfigurable ankle treatment and measurement exoskeleton device can be combined with a virtual reality game.

  The above description of the invention is merely exemplary in nature and, thus, variations that do not depart from the gist of the invention are intended to be within the scope of the invention. Such variations are not to be regarded as a departure from the spirit and scope of the present invention.

1 Exoskeleton type device 2 Base platform 3 Movable platform 4 Connection member 5 Joint member

Claims (16)

A base platform facing the operator's leg;
A movable platform facing the operator's foot;
A connection member connecting the base platform and the movable platform;
A joint member connecting the connection member to the movable platform;
A non-grounded ankle treatment and measurement exoskeleton device characterized by comprising: Can support two different types of exercises independently: RoM training / strengthening training and balance / propriosensory movement,
The non-grounded ankle treatment and measurement exoskeleton device according to claim 1. The articulation member is a reconfigurable joint, wherein in an unlocked position, the first axis is tangential to the base plate and the second axis is perpendicular to the base plate; Can freely rotate around two axes,
The non-grounded ankle treatment and measurement exoskeleton type device according to claim 1 or 2. If the reconfigurable joint is unlocked, the series of rotating joints function as a universal joint that rotates around the desired axis.
4. An ungrounded ankle treatment and measurement exoskeleton device according to claim 3. When the second axis is locked, the reconfigurable joint is limited to function as a rotating joint that can rotate freely only about the first axis.
4. An ungrounded ankle treatment and measurement exoskeleton device according to claim 3. The reconfigurable joint allows a 3RPS mechanism where the device is used as a RoM training / strengthening training device, reconfigured into a 3RPS mechanism where the device is used as a balance / propriosensory motor device And vice versa
The non-grounded ankle treatment and measurement exoskeleton type device according to any one of claims 1 to 5. When the device is used as the 3UPS mechanism, the reconfigurable joint is in an unlocked position and operates as a universal joint, and the operator's leg operates as a central link of the mechanism To
7. A non-grounded ankle treatment and measurement exoskeleton device according to claim 6. When the device is used as the 3RPS mechanism, the reconfigurable joint is in a locked position and operates as a rotary joint, and its axis of rotation is along the tangent of the base platform Facing the direction,
7. A non-grounded ankle treatment and measurement exoskeleton device according to claim 6. The connection member includes a drive unit and a movable element.
The non-grounded ankle treatment and measurement exoskeleton type device according to any one of claims 1 to 8. Further comprising a control unit and at least two sensors;
The non-grounded ankle treatment and measurement exoskeleton type device according to any one of claims 1 to 9. The apparatus can perform a passive movement mode, an active movement mode, a support movement mode, and a resistance movement mode.
The non-grounded ankle treatment and measurement exoskeleton type device according to any one of claims 1 to 10. Virtual tunnels and force fields inside these tunnels have been implemented to allow safe training in response to the support and resistance modes.
12. An ungrounded ankle treatment and measurement exoskeleton device according to claim 11. Combined with virtual reality games,
13. An ungrounded ankle treatment and measurement exoskeleton device according to claim 12. A robust position control device including a torque monitoring device;
The non-grounded ankle treatment and measurement exoskeleton type device according to any one of claims 1 to 13. Perform clinical measurements,
The non-grounded ankle treatment and measurement exoskeleton type device according to any one of claims 10 to 14. While the device is following the trajectory, state, and impedance of any of the ankles, the shape of the joint, the speed of the motion, the trajectory, the deviation of the trajectory, the smoothness of the motion, the range of motion, coordination and Measure synergism, maximum joint torque in any shape configuration, and joint torque,
16. An ungrounded ankle treatment and measurement exoskeleton device according to claim 15.

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