CN101596139A - Assistant movement exoskeleton of three-degree of freedom ankle joint - Google Patents
Assistant movement exoskeleton of three-degree of freedom ankle joint Download PDFInfo
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- CN101596139A CN101596139A CNA2009101002893A CN200910100289A CN101596139A CN 101596139 A CN101596139 A CN 101596139A CN A2009101002893 A CNA2009101002893 A CN A2009101002893A CN 200910100289 A CN200910100289 A CN 200910100289A CN 101596139 A CN101596139 A CN 101596139A
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Abstract
Assistant movement exoskeleton of three-degree of freedom ankle joint of the present invention, by to the control of the anglec of rotation of X-axis motor, y-axis motor and Z spindle motor, can realize the auxiliary patient of ectoskeleton realize ankle dorsal flexion/sole of the foot bend, in turn over/turn up and the motion respectively of internal/external rotations three degree of freedom and around synergy movement.This structure is compared with existing ankle joint ectoskeleton, has the motion of more freedom and has realized around this synergy movement its novel structure, portable and smart, be convenient to dress, control is convenient, can be used as amyotrophy of human body ankle joint or individuals with disabilities's medical rehabilitation assistive device.
Description
Technical field
The present invention relates to assistant movement exoskeleton of three-degree of freedom ankle joint, is a kind of Three Degree Of Freedom that has specifically, can realize to human body ankle dorsal flexion/sole of the foot bend, in turn over/turn up and the assist devices of internal/external rotations three-degree-of-freedom motion.
Background technology
The ectoskeleton technology is a kind of novel man-machine intelligence system's control technology, can be widely used in principal and subordinate's control of robot, the residual patient's of limb medical rehabilitation assistive device.Need Physical Therapist's " by doing and illustrating " to carry out for the rehabilitation maneuver of paralysing, the residual patient of limb is traditional, consumed a large amount of time and muscle power, and can't guarantee competent training time and enough training strength.More existing ankle joint ectoskeletons have only single degree of freedom mostly, can't satisfy the multifarious requirement of training.And the present invention has the forms of motion that Three Degree Of Freedom can realize that ankle joint is all, and can write down training parameter (movement locus, speed, intensity, time etc.), make the training process qualitative, quantitative, thereby can obtain objective quantitative rehabilitation evaluation index, be beneficial to determining and improvement of therapeutic scheme, and can carry out further investigation the neural rehabilitation rule of patient.
Summary of the invention
The objective of the invention is to design a kind of wearable flexible exoskeleton ankle joint recovering aid motion armarium with three degree of freedom.
Assistant movement exoskeleton of three-degree of freedom ankle joint of the present invention, comprise sole, be fixed on first support of sole front end, be fixed on second support of sole rear end, coaxial superimposed successively last annulus, ring gear and following annulus, on, following annulus is fixed into the integral body of rotating with respect to ring gear by the connector of two tape spools, first support is connected with the axle of two connectors by bearing respectively with second support, the axle of two connectors is coaxial at directions X, on ring gear, be fixed with the U-shaped contiguous block of two tape spools, one end of two calf plate supports is connected with the axle of two U-shaped contiguous blocks by bearing respectively, the axle of two U-shaped contiguous blocks is coaxial in Y direction, the other end of two calf plate supports links to each other with the calf plate crossbeam, calf plate and calf plate crossbeam are fixed, the X-axis motor links to each other with the first harmonic decelerator and is fixed on second support, y-axis motor links to each other with the second harmonic decelerator and is fixed on the first U-shaped contiguous block, Z spindle motor and reduction box are fixed on the annulus by Z spindle motor support, be fixed with gear in the rotating shaft of Z spindle motor, the engagement of gear and ring gear, the axle of first connector and the first U-shaped contiguous block spool on be separately installed with angular transducer.
The present invention is by to the control of the anglec of rotation of X-axis motor, y-axis motor and Z spindle motor, can realize the auxiliary patient of ectoskeleton realize ankle dorsal flexion/sole of the foot bend, in turn over/turn up and the motion respectively of internal/external rotations three degree of freedom and around synergy movement.This structure is compared with existing ankle joint ectoskeleton, has the motion of more freedom and has realized around this synergy movement its novel structure, portable and smart, be convenient to dress, control is convenient, can be used as amyotrophy of human body ankle joint or individuals with disabilities's medical rehabilitation assistive device.
Description of drawings
Fig. 1 is the assistant movement exoskeleton of three-degree of freedom ankle joint structural representation;
Fig. 2 is an assistant movement exoskeleton of three-degree of freedom ankle joint structure vertical view;
Fig. 3 is upper and lower annulus and ring gear connection diagram.
The specific embodiment
Further specify the present invention below in conjunction with the structure accompanying drawing.
With reference to accompanying drawing, assistant movement exoskeleton of three-degree of freedom ankle joint of the present invention, comprise sole 1, be fixed on first support 2 of sole front end, be fixed on second support 9 of sole rear end, coaxial superimposed successively last annulus 14, ring gear 7 and following annulus 13, on, following annulus 14,13 connectors 15 by two tape spools, 18 are fixed into the integral body of rotating with respect to ring gear 7, first support 2 and second support 9 are respectively by bearing and two connectors 15,18 axle connects, two connectors 15,18 axle is coaxial at directions X, on ring gear 7, be fixed with the U-shaped contiguous block 16 of two tape spools, 20, two calf plate supports 5, an end of 6 is respectively by bearing and two U-shaped contiguous blocks 16,20 axle connects, two U-shaped contiguous blocks 16,20 axle is coaxial in Y direction, two calf plate supports 5,6 the other end links to each other with calf plate crossbeam 21, calf plate 4 is fixing with calf plate crossbeam 21, X-axis motor 19 links to each other with first harmonic decelerator 8 and is fixed on second support 9, y-axis motor 17 links to each other with second harmonic decelerator 3 and is fixed on the first U-shaped contiguous block 16, Z spindle motor and reduction box 10 are fixed on the annulus 14 by Z spindle motor support 11, be fixed with gear 12 in the rotating shaft of Z spindle motor, gear 12 and ring gear 7 engagements, the axle of first connector 15 and the first U-shaped contiguous block 20 spool on be separately installed with angular transducer.
During rehabilitation training, assistant movement exoskeleton of three-degree of freedom ankle joint is worn on patient's the ankle joint, patient's shank is fixed on the calf plate, patient foot is fixed on the sole, the X-axis motor will rotatablely move and pass to the first harmonic decelerator, and the first harmonic decelerator will rotatablely move and pass to two connectors, because two connectors are fixed on the upper and lower annulus, therefore can realize the X-axis rotation of sole, i.e. the rotation of ankle joint X-direction with respect to ring gear.
Y-axis motor will rotatablely move and pass to the second harmonic decelerator, the second harmonic decelerator will rotatablely move and pass to two U-shaped contiguous blocks, because two U-shaped contiguous blocks are fixed on the ring gear, therefore can realize the Y-axis rotation of ring gear, i.e. the rotation of ankle joint Y direction with respect to calf plate.
The Z spindle motor will rotatablely move and pass to gear, because therefore gear and ring gear engagement realize the Z axle rotation of ring gear with respect to upper and lower annulus, be the rotation of ankle joint Z-direction.
Assistant movement exoskeleton of three-degree of freedom ankle joint has three degree of freedom, obtain patient's ankle motion angle parameter by the angular transducer that is installed on connector shaft and the U-shaped contiguous block axle, angle control is carried out in the rotation of X-axis motor, y-axis motor and Z spindle motor, can realize the SERVO CONTROL of ankle joint ectoskeleton sole with respect to calf plate X-axis, Y-axis and the Z axle anglec of rotation, drive dorsiflex/sole of the foot that the patient carries out ankle joint bend, in turn over/turn up and the internal/external rotations rehabilitation training.
Claims (1)
1. assistant movement exoskeleton of three-degree of freedom ankle joint, it is characterized in that comprising sole (1), be fixed on first support (2) of sole front end, be fixed on second support (9) of sole rear end, coaxial superimposed successively last annulus (14), ring gear (7) and following annulus (13), on, following annulus (14,13) connector (15 by two tape spools, 18) be fixed into the integral body of rotating with respect to ring gear (7), first support (2) and second support (9) are respectively by bearing and two connectors (15,18) axle connects, two connectors (15,18) axle is coaxial at directions X, on ring gear (7), be fixed with the U-shaped contiguous block (16 of two tape spools, 20), two calf plate supports (5,6) a end is respectively by bearing and two U-shaped contiguous blocks (16,20) axle connects, two U-shaped contiguous blocks (16,20) axle is coaxial in Y direction, two calf plate supports (5,6) the other end links to each other with calf plate crossbeam (21), calf plate (4) is fixing with calf plate crossbeam (21), X-axis motor (19) links to each other with first harmonic decelerator (8) and is fixed on second support (9), y-axis motor (17) links to each other with second harmonic decelerator (3) and is fixed on the first U-shaped contiguous block (16), Z spindle motor and reduction box (10) are fixed on the annulus (14) by Z spindle motor support (11), be fixed with gear (12) in the rotating shaft of Z spindle motor, the engagement of gear (12) and ring gear (7), the axle of first connector (15) and the first U-shaped contiguous block (20) spool on be separately installed with angular transducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101002893A CN101596139B (en) | 2009-06-29 | 2009-06-29 | Assistant movement exoskeleton of three-degree of freedom ankle joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101002893A CN101596139B (en) | 2009-06-29 | 2009-06-29 | Assistant movement exoskeleton of three-degree of freedom ankle joint |
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| Publication Number | Publication Date |
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| CN101596139A true CN101596139A (en) | 2009-12-09 |
| CN101596139B CN101596139B (en) | 2011-01-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2009101002893A Expired - Fee Related CN101596139B (en) | 2009-06-29 | 2009-06-29 | Assistant movement exoskeleton of three-degree of freedom ankle joint |
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Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101828982A (en) * | 2010-05-07 | 2010-09-15 | 北京理工大学 | Ankle and foot rehabilitation device |
| CN102897244A (en) * | 2012-10-24 | 2013-01-30 | 北京大学 | Direct-drive ankle joint |
| CN103041546A (en) * | 2013-01-15 | 2013-04-17 | 哈尔滨工程大学 | Active and passive type ankle joint rehabilitative apparatus |
| CN103479502A (en) * | 2013-09-16 | 2014-01-01 | 北京交通大学 | Ankle joint rehabilitation device |
| CN104434127A (en) * | 2014-12-17 | 2015-03-25 | 深圳市老年医学研究所 | Three-degree-of-freedom ankle joint moving state detection device |
| CN105479437A (en) * | 2015-12-28 | 2016-04-13 | 中国人民解放军理工大学 | Three-degree-of-freedom lower limb assistance exoskeleton ankle |
| CN106236510A (en) * | 2016-08-31 | 2016-12-21 | 山东泽普医疗科技有限公司 | A kind of ankle and foot intelligent rehabilitation robot |
| CN107899198A (en) * | 2017-12-25 | 2018-04-13 | 安阳市翔宇医疗设备有限责任公司 | A kind of main passive exercise device of ankle-joint |
| CN108161903A (en) * | 2018-01-04 | 2018-06-15 | 中国人民解放军国防科技大学 | Bionic three-degree-of-freedom exoskeleton ankle joint |
| CN108433912A (en) * | 2018-04-19 | 2018-08-24 | 中国科学院沈阳自动化研究所 | A kind of sick bed rehabilitation of anklebone system of achievable multi-locomotion mode |
| CN108567546A (en) * | 2018-04-10 | 2018-09-25 | 超微（上海）骨科医院管理股份有限公司 | A kind of wearable ankle rehabilitation parallel robot and its application method of four-degree-of-freedom |
| CN108652813A (en) * | 2017-03-23 | 2018-10-16 | 本田技研工业株式会社 | Ankle-joint mechanism |
| CN108969293A (en) * | 2018-05-28 | 2018-12-11 | 徐州市儿童医院 | Ankle passive movement instrument |
| CN109288650A (en) * | 2018-07-31 | 2019-02-01 | 电子科技大学 | The independent used movable lower limb training of wearer and auxiliary intelligent apparatus |
| CN109303670A (en) * | 2018-10-17 | 2019-02-05 | 苏州帝维达生物科技有限公司 | A kind of ankle rehabilitation institution |
| KR102021306B1 (en) * | 2018-07-04 | 2019-09-16 | 박미려 | 3D Ankle Joint continuous passive motion device |
| US10426637B2 (en) | 2015-05-11 | 2019-10-01 | The Hong Kong Polytechnic University | Exoskeleton ankle robot |
| CN111249108A (en) * | 2020-01-20 | 2020-06-09 | 杭州风行医疗器械有限公司 | Multi freedom's ankle joint intelligence rehabilitation device |
| CN112155941A (en) * | 2020-10-12 | 2021-01-01 | 王灿 | Ankle joint rehabilitation robot |
| CN113304018A (en) * | 2021-06-30 | 2021-08-27 | 华中科技大学 | Flexible ankle joint helping hand ectoskeleton device |
| CN114366549A (en) * | 2021-10-21 | 2022-04-19 | 郑州安杰莱智能科技有限公司 | Multi-degree-of-freedom ankle joint rehabilitation training device and control method thereof |
| WO2022222514A1 (en) * | 2021-04-23 | 2022-10-27 | 中国科学院深圳先进技术研究院 | Exoskeleton robot ankle joint having three flexible driving branches |
| WO2023236414A1 (en) * | 2022-06-06 | 2023-12-14 | 郑州安杰莱智能科技有限公司 | Ankle joint rehabilitation training apparatus |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2139431Y (en) * | 1992-10-24 | 1993-08-04 | 南京师范大学 | Fixed walking support for ankle joint exstrophy |
| CN2465703Y (en) * | 2001-02-16 | 2001-12-19 | 亓勤德 | Electric shoe for recovery of paralysis foot |
| CN2722971Y (en) * | 2004-09-13 | 2005-09-07 | 邯郸钢铁集团有限责任公司 | Automatic recovery device for ankle joint wound |
| CN100558323C (en) * | 2008-02-28 | 2009-11-11 | 上海交通大学 | Parallel type multi-freedom artificial limb exoskeleton ankle joint |
| CN201422989Y (en) * | 2009-06-29 | 2010-03-17 | 浙江大学 | Exoskeleton with three degree of freedom for auxiliary ankle joint exercises |
-
2009
- 2009-06-29 CN CN2009101002893A patent/CN101596139B/en not_active Expired - Fee Related
Cited By (34)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101828982A (en) * | 2010-05-07 | 2010-09-15 | 北京理工大学 | Ankle and foot rehabilitation device |
| CN101828982B (en) * | 2010-05-07 | 2011-09-07 | 北京理工大学 | Ankle and foot rehabilitation device |
| CN102897244A (en) * | 2012-10-24 | 2013-01-30 | 北京大学 | Direct-drive ankle joint |
| CN102897244B (en) * | 2012-10-24 | 2014-12-03 | 北京大学 | Direct-drive ankle joint |
| CN103041546A (en) * | 2013-01-15 | 2013-04-17 | 哈尔滨工程大学 | Active and passive type ankle joint rehabilitative apparatus |
| CN103041546B (en) * | 2013-01-15 | 2015-06-17 | 哈尔滨工程大学 | Active and passive type ankle joint rehabilitative apparatus |
| CN103479502B (en) * | 2013-09-16 | 2015-02-25 | 北京交通大学 | Ankle joint rehabilitation device |
| CN103479502A (en) * | 2013-09-16 | 2014-01-01 | 北京交通大学 | Ankle joint rehabilitation device |
| CN104434127A (en) * | 2014-12-17 | 2015-03-25 | 深圳市老年医学研究所 | Three-degree-of-freedom ankle joint moving state detection device |
| CN104434127B (en) * | 2014-12-17 | 2017-11-03 | 王春宝 | Three-degree of freedom ankle joint motion state detection device |
| US10426637B2 (en) | 2015-05-11 | 2019-10-01 | The Hong Kong Polytechnic University | Exoskeleton ankle robot |
| CN105479437A (en) * | 2015-12-28 | 2016-04-13 | 中国人民解放军理工大学 | Three-degree-of-freedom lower limb assistance exoskeleton ankle |
| CN106236510A (en) * | 2016-08-31 | 2016-12-21 | 山东泽普医疗科技有限公司 | A kind of ankle and foot intelligent rehabilitation robot |
| CN106236510B (en) * | 2016-08-31 | 2019-01-18 | 山东泽普医疗科技有限公司 | A kind of ankle and foot intelligent rehabilitation robot |
| CN108652813A (en) * | 2017-03-23 | 2018-10-16 | 本田技研工业株式会社 | Ankle-joint mechanism |
| CN108652813B (en) * | 2017-03-23 | 2020-12-29 | 本田技研工业株式会社 | Ankle joint mechanism |
| CN107899198A (en) * | 2017-12-25 | 2018-04-13 | 安阳市翔宇医疗设备有限责任公司 | A kind of main passive exercise device of ankle-joint |
| CN108161903A (en) * | 2018-01-04 | 2018-06-15 | 中国人民解放军国防科技大学 | Bionic three-degree-of-freedom exoskeleton ankle joint |
| CN108161903B (en) * | 2018-01-04 | 2020-02-18 | 中国人民解放军国防科技大学 | Bionic three-degree-of-freedom exoskeleton ankle joint |
| CN108567546A (en) * | 2018-04-10 | 2018-09-25 | 超微（上海）骨科医院管理股份有限公司 | A kind of wearable ankle rehabilitation parallel robot and its application method of four-degree-of-freedom |
| CN108433912A (en) * | 2018-04-19 | 2018-08-24 | 中国科学院沈阳自动化研究所 | A kind of sick bed rehabilitation of anklebone system of achievable multi-locomotion mode |
| CN108433912B (en) * | 2018-04-19 | 2023-11-21 | 中国科学院沈阳自动化研究所 | Ankle joint rehabilitation system capable of realizing multi-movement mode for sickbed |
| CN108969293A (en) * | 2018-05-28 | 2018-12-11 | 徐州市儿童医院 | Ankle passive movement instrument |
| KR102021306B1 (en) * | 2018-07-04 | 2019-09-16 | 박미려 | 3D Ankle Joint continuous passive motion device |
| CN109288650A (en) * | 2018-07-31 | 2019-02-01 | 电子科技大学 | The independent used movable lower limb training of wearer and auxiliary intelligent apparatus |
| CN109303670A (en) * | 2018-10-17 | 2019-02-05 | 苏州帝维达生物科技有限公司 | A kind of ankle rehabilitation institution |
| CN111249108A (en) * | 2020-01-20 | 2020-06-09 | 杭州风行医疗器械有限公司 | Multi freedom's ankle joint intelligence rehabilitation device |
| CN112155941A (en) * | 2020-10-12 | 2021-01-01 | 王灿 | Ankle joint rehabilitation robot |
| CN112155941B (en) * | 2020-10-12 | 2022-07-05 | 王灿 | Ankle joint rehabilitation robot |
| WO2022222514A1 (en) * | 2021-04-23 | 2022-10-27 | 中国科学院深圳先进技术研究院 | Exoskeleton robot ankle joint having three flexible driving branches |
| CN113304018A (en) * | 2021-06-30 | 2021-08-27 | 华中科技大学 | Flexible ankle joint helping hand ectoskeleton device |
| CN114366549A (en) * | 2021-10-21 | 2022-04-19 | 郑州安杰莱智能科技有限公司 | Multi-degree-of-freedom ankle joint rehabilitation training device and control method thereof |
| CN114366549B (en) * | 2021-10-21 | 2024-04-12 | 郑州安杰莱智能科技有限公司 | Multi-degree-of-freedom ankle rehabilitation training device and control method thereof |
| WO2023236414A1 (en) * | 2022-06-06 | 2023-12-14 | 郑州安杰莱智能科技有限公司 | Ankle joint rehabilitation training apparatus |
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