CN101548925B - Gait phase detection apparatus with ankle joint angle self-rectification function - Google Patents
Gait phase detection apparatus with ankle joint angle self-rectification function Download PDFInfo
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- CN101548925B CN101548925B CN2009100981711A CN200910098171A CN101548925B CN 101548925 B CN101548925 B CN 101548925B CN 2009100981711 A CN2009100981711 A CN 2009100981711A CN 200910098171 A CN200910098171 A CN 200910098171A CN 101548925 B CN101548925 B CN 101548925B
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- 230000005021 gait Effects 0.000 title claims abstract description 25
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- 230000008520 organization Effects 0.000 claims description 9
- 210000001872 metatarsal bone Anatomy 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 6
- 210000001255 hallux Anatomy 0.000 claims description 3
- 238000009530 blood pressure measurement Methods 0.000 claims 1
- 210000002683 foot Anatomy 0.000 abstract description 11
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- 206010034701 Peroneal nerve palsy Diseases 0.000 abstract 3
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- 230000003116 impacting effect Effects 0.000 abstract 1
- 238000011084 recovery Methods 0.000 abstract 1
- 239000013585 weight reducing agent Substances 0.000 abstract 1
- 210000003423 ankle Anatomy 0.000 description 7
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- 229960001030 mephenoxalone Drugs 0.000 description 6
- 210000003141 lower extremity Anatomy 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000000386 athletic effect Effects 0.000 description 1
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Abstract
The invention discloses a gait phase detection apparatus with ankle joint angle self-rectification function, which comprises a shank fixing mechanism, a ankle joint angle control mechanism, a ankle joint angle measuring mechanism and a thenar pressure measuring footwear. The invention can control ankle joint motor rotation angle according to thenar pressure signal, regulate ankle joint angle for foot drop patient in weight reduction walking training, prevent the damage to foot due to the towing and impacting caused by foot drop, and improve the dorsiflexion ability of foot drop patient; a pressure sensor and an angle sensor collects thenar pressure signal and ankle joint angle signal timely, an upper computer performs fuzzy logic algorithm to realize to detect gait phase smoothly and submissively. patient with walking ability defects or normal person with some degree of gait deformity can wear the invention while walking, detect the gait phase information in walking, estimate gait recovery degree scientifically, and optimize gait training strategy.
Description
Technical field
The present invention relates to a kind of gait phase detection apparatus, belong to athletic rehabilitation apparatus field with ankle joint angle self-rectification function.
Background technology
One group is close to perfect gait; allow the mankind can carry out walking movement easily, for a long time; Rancho Los Amigos gait analysis committee is according to the stressed characteristics of joint angles and vola of human gait; human gait is divided into 8 phase places; the method that detects gait phase has occurred a lot, but can have following problem usually: equipment is huge, can not dress for a long time, of a high price, suitable crowd is wideless.
Summary of the invention
The objective of the invention is to design a kind of simple in structure, easy to use, the gait phase detection apparatus that can when ambulation training, dress with ankle joint angle self-rectification function.
The gait phase detection apparatus of band ankle joint angle self-rectification function of the present invention comprises little leg restraint gear, ankle joint angle controlling organization, ankle joint angle measuring mechanism and plantar pressure measuring mechanism:
Little leg restraint gear comprises two shank clamping plate of length-adjustable shank bandage and medial and lateral, one end of shank bandage and the outside of shank clamping plate are fixed, the other end is the length adjustment free end, is stained with elastic insert respectively at the inner surface of two shank clamping plate;
The ankle joint angle controlling organization comprises motor, I-shaped connector, ankle joint first tumbler and by first support bar, the adjustable for height support bar that second support bar and in-line unit bolt nut constitute, the two sides of ankle joint first tumbler is fixed with outside shank clamping plate and I-shaped connector respectively, motor housing and I-shaped connector are connected, the one side of the flange on the motor shaft and first support bar is fixed, the another side of first support bar is provided with axle, this axle constitutes the ankle joint revolute by rolling bearing and ankle joint first tumbler, and the end of second support bar and plantar pressure are measured footwear and be connected;
The ankle joint angle measuring mechanism comprises ankle joint second tumbler, flange shape connector, ∏ shape connector, angular transducer and the adjustable for height support bar that is made of the 3rd support bar, the 4th support bar and in-line unit bolt nut,
The two sides of ankle joint second tumbler is fixed with inboard shank clamping plate and ∏ shape connector opening respectively, the bottom surface of flange shape connector and ∏ shape connector is connected, angular transducer housing and flange shape connector are fixed, the one side of the 3rd support bar is provided with blind hole, the turning cylinder of angular transducer constitutes profile with this blind hole and is connected, the another side of the 3rd support bar is provided with axle, this axle constitutes the ankle joint revolute by rolling bearing and ankle joint second tumbler, the measuring footwear with plantar pressure and be connected of the 4th support bar;
The plantar pressure measuring mechanism comprises footwear, four pressure transducers, and four pressure transducers lay respectively at the position of big toe, the 1st metatarsal, 3-5 metatarsal and heel portion.
Movable in normal angular range in order to guarantee ankle joint, can on ankle joint first tumbler and ankle joint second tumbler, the mechanical position limitation projection be set respectively.
During use; user is worn on the present invention on the foot; utilize bandage to pinion shank; according to ankle joint position adjustments support bar length; the scope that ankle joint angle rotates is to set according to normal person's ankle motion scope in the medical data base, relies on the dual spacing and protection of electric spacing realization ankle joint angle of mechanical position limitation and the ankle joint angle measuring mechanism and the controlling organization of ankle joint moving block.
For the drop foot patient; need to use ankle joint angle self-rectification function; when patient carries out Unweighting walking training, at lower limb from supporting phase latter stage (promptly having only tiptoe to contact to earth), when swing phase initial stage conversion; ankle plantar is bent the angle maximum; being positioned at the force value that 4 pressure transducers in vola record all is 0, and drop foot patient is because the scarce capacity of dorsiflex causes toe to pull the generation of phenomenon on the ground; cause ankle joint impaired; at this moment, driven by motor ankle dorsal flexion certain angle, the protection ankle joint is also tempered the dorsiflex ability; swing phase latter stage when supporting attitude initial stage conversion; drop foot patient's forward roll, relatively fiercer impact ground, injury foot; at this moment; wear the present invention, ankle joint is certain dorsiflexion, and rear heel lands; protection foot safety lands; and when being positioned at calcaneal pressure transducer and detecting pressure signal, motor quits work, until at lower limb from supporting phase latter stage (promptly having only tiptoe to contact to earth); when the swing phase initial stage changed, motor was started working again.For general patient, can not use ankle joint angle self-rectification function, when ambulation training, the pressure signal of data collecting card timing acquiring plantar pressure sensor and the angle signal of angular transducer, computer field shows that 4 positions, vola are with the force value of walking variation and the angle value of ankle joint rotation, directly give the user visual feedback, make training lively.Pressure signal is distinguished the gait phase in each period through the fuzzy logic algorithm of host computer, for doctor or trainer's reference, according to normal gait, estimates the degree of recovering, and provides foundation for the improvement of follow-up training method.
Apparatus of the present invention are simple in structure, easy to use, has ankle joint angle self-rectification function, for defective patient of locomotor activity or gait certain odd-shaped normal person is arranged, when dressing apparatus of the present invention ambulation training, can strengthen the dorsiflex ability, the gait phase information when detecting walking is for rehabilitation training provides the evaluation of objective science and the reference of training strategy.
Description of drawings
Fig. 1 is the gait phase detection apparatus structural representation of band ankle joint angle self-rectification function;
Fig. 2 is the distribution schematic diagrams of four pressure transducers on footwear.
The specific embodiment
Further specify the present invention below in conjunction with accompanying drawing.
With reference to Fig. 1, the gait phase detection apparatus of band ankle joint angle self-rectification function of the present invention comprises little leg restraint gear, ankle joint angle controlling organization, ankle joint angle measuring mechanism and plantar pressure measuring mechanism:
Little leg restraint gear comprises two shank clamping plate of length-adjustable shank bandage 1 and medial and lateral 16-1,16-2, one end of shank bandage 1 and the outside of shank clamping plate are fixed, the other end is the length adjustment free end, inner surface at two shank clamping plate is stained with elastic insert 17 respectively, like this, utilize shank bandage tighten shank, make the user soft feel comfortable.
The ankle joint angle controlling organization comprises motor 2, I-shaped connector 3, ankle joint first tumbler 4 and by first support bar 5, the adjustable for height support bar that second support bar 7 and in-line unit bolt nut 6 constitute, the two sides of ankle joint first tumbler 4 is connected with an end of outside shank clamping plate 16-2 and I-shaped connector 3 respectively, the other end of motor 2 shells and I-shaped connector 3 is connected, the flange on motor 2 turning cylinders and the one side of first support bar 5 are fixed, the another side of first support bar 5 is provided with axle, this axle constitutes the ankle joint revolute by rolling bearing and ankle joint first tumbler 4, and the end of second support bar 7 and plantar pressure are measured footwear 8 and be connected.Like this, little leg restraint gear, ankle joint angle controlling organization and plantar pressure measuring mechanism are connected in series successively, can realize the control of motor to ankle dorsal flexion angle and sole of the foot angle in the wrong.
The ankle joint angle measuring mechanism comprises ankle joint second tumbler 15, flange shape connector 14, ∏ shape connector 12, angular transducer 13 and by the 3rd support bar 11, the adjustable for height support bar that the 4th support bar 9 and in-line unit bolt nut 10 constitute, the two sides of ankle joint second tumbler 15 is fixed with inboard shank clamping plate 16-1 and ∏ shape connector 12 openings respectively, flange shape connector 14 is connected with the bottom surface of ∏ shape connector 12, angular transducer 13 housings and flange shape connector 14 are fixing, the one side of the 3rd support bar 11 is provided with blind hole, the turning cylinder of angular transducer 13 constitutes profile with this blind hole and is connected, the another side of the 3rd support bar 11 is provided with axle, this axle constitutes the ankle joint revolutes by rolling bearing and ankle joint second tumbler 15, the measuring footwear 8 with plantar pressure and be connected of the 4th support bar 9.Like this, little leg restraint gear, it is connected in series successively that ankle joint angle measuring mechanism and plantar pressure are measured footwear, can realize the measurement of ankle joint in dorsiflex angle and sole of the foot angle in the wrong.
The plantar pressure measuring mechanism comprises that plantar pressure measures the position (see figure 2) that footwear 8, four 18,19,20,21, four pressure transducers 18,19,20,21 of pressure transducer lay respectively at big toe, the 1st metatarsal, 3-5 metatarsal and heel portion.
Pressure model according to each position, vola of 8 phase place correspondences of human gait, in fuzzy logic algorithm, set up the fuzzy inference rule storehouse, the force value of utilizing fuzzy generator that 4 positions are regularly recorded is mapped to the fuzzy set of the input space, solve the degree of membership value behind the de-fuzzy, correspondence draws residing phase place of this moment of lower limb.
For the ankle joint of protection user when patient trains, to bend on the direction at the dorsiflex of ankle joint cradle head and the sole of the foot and to be equipped with mechanical position limitation, angle is with reference to normal person's ankle motion angle.Ankle joint angle measuring mechanism on-line measurement ankle joint rotational angle feeds back to controlling organization, and after angle exceeded qualification, angle control mechanism realized that ankle joint angle returns to initial position.If patient carries out the loss of weight walking; at lower limb from supporting phase latter stage (promptly having only tiptoe to contact to earth); when the swing phase initial stage changes; ankle plantar is bent the angle maximum; being positioned at the force value that 4 pressure transducers in vola record all is 0; machine operation; drive the ankle dorsal flexion certain angle; the protection ankle joint is also tempered the dorsiflex ability, swing phase latter stage when supporting attitude initial stage conversion, owing to be certain dorsiflexion at the previous state ankle joint; rear heel lands; protection foot safety lands, and when being positioned at calcaneal pressure transducer and detecting pressure signal, motor quits work; until at lower limb from supporting phase latter stage (promptly having only tiptoe to contact to earth); when the swing phase initial stage changed, motor was started working again, realized ankle joint angle self-rectification.
Claims (2)
1. gait phase detection apparatus with ankle joint angle self-rectification function is characterized in that comprising little leg restraint gear, ankle joint angle controlling organization, ankle joint angle measuring mechanism and plantar pressure measuring mechanism:
Little leg restraint gear comprises two shank clamping plate of length-adjustable shank bandage (1) and medial and lateral (16-1,16-2), one end of shank bandage (1) and the outside of shank clamping plate are fixed, the other end is the length adjustment free end, is stained with elastic insert (17) respectively at the inner surface of two shank clamping plate;
The ankle joint angle controlling organization comprises motor (2), I-shaped connector (3), ankle joint first tumbler (4) and by first support bar (5), the adjustable for height support bar that second support bar (7) and in-line unit bolt nut (6) constitute, the two sides of ankle joint first tumbler (4) is connected with an end of outside shank clamping plate (16-2) and I-shaped connector (3) respectively, the other end of motor (2) shell and I-shaped connector (3) is connected, the flange on motor (2) turning cylinder and the one side of first support bar (5) are fixed, the another side of first support bar (5) is provided with axle, this axle constitutes the ankle joint revolute by rolling bearing and ankle joint first tumbler (4), and the end of second support bar (7) and plantar pressure are measured footwear (8) and be connected;
The ankle joint angle measuring mechanism comprises ankle joint second tumbler (15), flange shape connector (14), ∏ shape connector (12), angular transducer (13) and by the 3rd support bar (11), the adjustable for height support bar that the 4th support bar (9) and in-line unit bolt nut (10) constitute, the two sides of ankle joint second tumbler (15) is fixed with inboard shank clamping plate (16-1) and ∏ shape connector (12) opening respectively, flange shape connector (14) is connected with the bottom surface of ∏ shape connector (12), angular transducer (13) housing and flange shape connector (14) are fixing, the one side of the 3rd support bar (11) is provided with blind hole, the turning cylinder of angular transducer (13) constitutes profile with this blind hole and is connected, the another side of the 3rd support bar (11) is provided with axle, this axle constitutes the ankle joint revolute by rolling bearing and ankle joint second tumbler (15), and the 4th support bar (9) is measured footwear (8) with plantar pressure and is connected;
The plantar pressure measuring mechanism comprises plantar pressure measurement footwear (8), four pressure transducers (18) (19) (20) (21), and four pressure transducers (18) (19) (20) (21) lay respectively at the position of big toe, the 1st metatarsal, 3-5 metatarsal and heel portion.
2. the gait phase detection apparatus of band ankle joint angle self-rectification function according to claim 1 is characterized in that being respectively equipped with the mechanical position limitation projection on ankle joint first tumbler (4) and ankle joint second tumbler (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2009100981711A CN101548925B (en) | 2009-05-05 | 2009-05-05 | Gait phase detection apparatus with ankle joint angle self-rectification function |
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| CN2009100981711A CN101548925B (en) | 2009-05-05 | 2009-05-05 | Gait phase detection apparatus with ankle joint angle self-rectification function |
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| CN101548925A CN101548925A (en) | 2009-10-07 |
| CN101548925B true CN101548925B (en) | 2011-01-05 |
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| CN2009100981711A Expired - Fee Related CN101548925B (en) | 2009-05-05 | 2009-05-05 | Gait phase detection apparatus with ankle joint angle self-rectification function |
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