CN101829005B - Gait rehabilitation robot footrest device with metatarsal joints - Google Patents
Gait rehabilitation robot footrest device with metatarsal joints Download PDFInfo
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- CN101829005B CN101829005B CN2010101798449A CN201010179844A CN101829005B CN 101829005 B CN101829005 B CN 101829005B CN 2010101798449 A CN2010101798449 A CN 2010101798449A CN 201010179844 A CN201010179844 A CN 201010179844A CN 101829005 B CN101829005 B CN 101829005B
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- metatarsal
- sole
- ankle
- forefoot plate
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Abstract
The invention aims to provide a gait rehabilitation robot footrest device with metatarsal joints, comprising a front foot plate, a rear foot plate, a motor and a cord, wherein the motor comprises an ankle motor, a metatarsal motor, encoders, an approach switch, a supporting plate arranged at one side of the rear foot plate, a supporting head arranged on the supporting plate, a large pulley arranged on the metatarsal motor, a cord post arranged below the front foot plate and a spring connected with the cord post and the ankle motor; both the ankle motor and the metatarsal motor are arranged below the rear foot plate; the ankle motor is connected with the rear foot plate through a connecting block fixed to the bottom of the rear foot plate; the encoders are respectively arranged at high-speed ends of the ankle motor and the metatarsal motor, and the other end of the metatarsal motor is provided with the large pulley; and the cord rounds the cord post, the supporting head and the large pulley. The invention more conforms to the real motion state of feet, achieves a better rehabilitation training effect and is suitable for various crowds, and the training of various motion modes can be finished through changing gait data.
Description
Technical field
What the present invention relates to is a kind of therapeutic medical rehabilitation robot device.
Background technology
In recent years, healing robot has shown increasing advantage to the mode that the patient carries out science and effectively rehabilitation training.Carry out rehabilitation training early and not only can keep range of motion, prevent arthrogryposis, and can obviously improve the final recovery extent of patient moving function.Wherein continuous passive motion is a kind of basic skills in the extremity motor function rehabilitation training therapy.
Existing about gait rehabilitation robot generally passes through thigh, shank is swung and the rotation of ankle realizes the simulation to human gait, ignored the effect of human foot metatarsal joints in gait.One group of perfect gait must allow the patient can carry out walking movement like a cork, for a long time.Xiangli when the lower limb kiss the earth of the 60-65% that accounts for whole gait cycle promptly supported with the time of bearing gravity, metatarsal joints has played important effect.Supporting phase in the time, the gravity center of human body moves to toe from heel, and vola power shows as and is two hump curves.
Summary of the invention
The object of the present invention is to provide simple in structure, cost is low, and a kind of gait rehabilitation robot footrest device with metatarsal joints that can in patient's rehabilitation training, use.
The objective of the invention is to realize like this:
A kind of gait rehabilitation robot footrest device of the present invention with metatarsal joints; It is characterized in that: comprise foot header board, back sole, motor and rope; Motor comprises ankle motor and metatarsal motor; Also comprise encoder, near switch, be installed in back sole one side gripper shoe, be installed in supporting member on the gripper shoe, be installed in large pulley on the metatarsal motor, be installed in the spring of rope post, connecting rope post and the ankle motor of foot header board below; Ankle motor and metatarsal motor all are positioned at the below of back sole, and the ankle motor connects the back sole through the contiguous block that is fixed in sole bottom, back, and encoder is installed in the speed end of ankle motor and metatarsal motor respectively; The other end of metatarsal motor is installed large pulley, and rope is walked around rope post, supporting member and large pulley.
A kind of gait rehabilitation robot footrest device with metatarsal joints of the present invention can also comprise:
Described foot header board and rear foot panel area are installed protective frame respectively, above the sole of back, with the rear instep bandage and heel baffle plate are installed respectively.
Advantage of the present invention is: more meet the real motion state of foot, thereby reach better rehabilitation training effect, be adapted to various crowds, change the training that gait data can be accomplished multiple motion mode.
Description of drawings
Fig. 1 is the front view of the whole mechanism of the present invention;
Fig. 2 is the vertical view of the whole mechanism of the present invention;
Fig. 3 is the front view and the left view of support column part;
Fig. 4 is hinged partial sectional view;
Fig. 5 is an oblique view of the present invention.
The specific embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1～5, entire mechanism comprises forefoot plate part, rear foot plate portion, support column, motor transmission part, signal detection part.Forefoot plate is welded by two parts, is welded with in the bottom of forefoot plate 2 to detect block 19, and can change its output signal potential near the distance of switch 18 during less than certain limit.Rope post 1 is fixed in the forefoot plate front end, and its left end leans out and the fluted connecting rope that is used for.Be connected with spring 17 between rope post 1 and the top board 15, the power of pretightning force and forefoot plate return movement is provided for rope.The forefoot plate periphery is being fixed protective frame 3, leans out forefoot plate to prevent patient foot.The periphery of same back sole 9 is also being fixed protective frame 8.Heel baffle plate 20 can slide after the back sole is gone forward, and is used for adapting to the feet of different sizes.The adjustment back that finishes is used to tight a bolt and 21 just can be fixed on the sole of back.Leave 4 holes on the heel baffle plate and be used for fixing bandage to pinion ankle.Two partial fixings were on the protective frame 8 on both sides about instep bandage 5 was divided into.Protective frame 8 provides 7 fixing holes, and according to varying in size of patient's foot, adjustment instep bandage selects suitable hole to fix.Ankle motor 10 is hinged with the contiguous block of sole bottom, back, rotates thereby can drive the back sole.The ankle motor is fixed on the motor cabinet 16 through flange.Motor cabinet 16 is fixed in top board 15, and then is fixed on the union joint 14.Union joint 14 is used for being connected with gait rehabilitation robot.Metatarsal motor 11 is fixed on the union joint 14 through motor cabinet 12 and contiguous block 13.Large pulley 23 is fixed on the output shaft of metatarsal motor, and left end relies on small end lid 23 location.Encoder 24 is installed in the speed end of two motors respectively, is used for detecting motor speed signal, and feeds back in the control system.Fixing near switch 18 through the L-square 33 that is fixed in sole bottom, back, be in the same vertical with detection block 19.Be used for reflecting near switch 18 whether forefoot plate is in the same plane with the back sole.
Be illustrated in figure 3 as the support column part, be welded on the left side of back sole.Supporting member 6 is welded on the gripper shoe 7, and an end is jagged.Bearing shaft 28 is passed supporting member 6, and right-hand member is located with shaft end ring.Truckle 25 is enclosed within on the bearing 26.One end is wrapped in rope 4 on the large pulley 22 and walks around truckle 25 and be connected on the rope post 1, rotates thereby the power that transmits metatarsal motor 11 drives forefoot plate.Pad 27 plays the effect of location bearing.The supporting member top is enclosed with guard shield 29 and is used for preventing that rope from deviating from.
As shown in Figure 4, forefoot plate 2 is hinged with back sole 9.Forefoot plate is the biconvex font, and back sole is concave shape.Can find out that in conjunction with Fig. 1 the forefoot plate and the first half of back sole contact portion are that fillet, Lower Half are the right angle.Forefoot plate to be rotated counterclockwise by position shown in Figure 1, cannot clockwise rotate only like this.Forefoot plate has through hole with back sole lap.Hinge axis 30 is through in the through hole, and bearing 31 is installed to reduce pivoting friction in two ends.Holding screw restriction hinge axis on the forefoot plate biconvex piece relatively rotates in forefoot plate.Positioning action is played with back-up ring 32 in the hole.
Forefoot plate is hinged through hinge axis 30 and bearing 31 with the back sole, and hinge axis and forefoot plate have the holding screw location, and forefoot plate is first half fillet, Lower Half right angle with back sole contact portion, to reach a purpose that direction is spacing.
When the present invention worked, host computer was transformed into the rotation of control signal control ankle motor and metatarsal motor with given in advance gait data, and then drove the rotation in the corresponding joint of patient foot.When the patient carries out gait rehabilitation when training, whole swing mutually with early stage (the landing to metatarsal heelstrike) of supporting mutually, metatarsal motor and preloading spring cooperation bottom the forefoot plate makes forefoot plate and after sole in the same plane.Advocate to concentrate on the heel place in this stage vola.Keep level with respect to ground supporting phase mid-term (heelstrike heeloff) forefoot plate, relatively rotate with back sole and angle changes to minimum by 180 ° to opposite side.The angle changing value can change according to patient's practical situation, to adapt to different crowd.This stage heel place vola power diminishes, and metatarsal place vola power increases to maximum simultaneously.Change into back sole by horizontal level and be in same plane supporting phase latter stage (to toes liftoff before) forefoot plate with respect to ground.Become 180 ° with back sole relative angle by minimum.This stage gravity center of human body turns to the opposite side vola at the bottom of by a parapodum, and metatarsal place vola power diminishes, and opposite side heel place vola power increases.In the whole gait cycle, sole rotates around motor center after the ankle driven by motor, with the angle on sole after changing in the gait cycle and ground.
The present invention is used for the gait rehabilitation training, can carry out the motion in metatarsal joints and anklebone joint.Be adapted to multiple crowd.
Claims (2)
1. gait rehabilitation robot footrest device that in carrying out gait rehabilitation training, can carry out the motion of metatarsal joints; It is characterized in that: comprise forefoot plate, back sole, ankle motor, metatarsal motor and rope; Also comprise encoder, near switch, be installed in back sole one side gripper shoe, be installed in supporting member on the gripper shoe, be installed in large pulley on the metatarsal motor, be installed in the spring of rope post, connecting rope post and the top board of forefoot plate below; Ankle motor and metatarsal motor all are positioned at the below of back sole, and the ankle motor connects the back sole through the contiguous block that is fixed in sole bottom, back, and encoder is installed in the speed end of ankle motor and metatarsal motor respectively; The other end of metatarsal motor is installed said large pulley; Rope is walked around rope post, supporting member and large pulley, and forefoot plate is hinged with the back sole, fixes through the L-square that is fixed in sole bottom, back near switch; Be welded with the detection block in the bottom of forefoot plate; Near switch with detect block and be in the same vertical, detect block and can change output signal potential during less than certain limit near switch near the distance of switch, be used for reflecting near switch whether forefoot plate in the same plane with the back sole; Sole rotates around the ankle motor center after the ankle driven by motor, with the angle on sole after changing in the gait cycle and ground.
2. a kind of gait rehabilitation robot footrest device that in carrying out the gait rehabilitation training, can carry out the motion of metatarsal joints according to claim 1; It is characterized in that: described forefoot plate and rear foot panel area are installed protective frame respectively, above the sole of back, with the rear instep bandage and heel baffle plate are installed respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101798449A CN101829005B (en) | 2010-05-24 | 2010-05-24 | Gait rehabilitation robot footrest device with metatarsal joints |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101798449A CN101829005B (en) | 2010-05-24 | 2010-05-24 | Gait rehabilitation robot footrest device with metatarsal joints |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101829005A CN101829005A (en) | 2010-09-15 |
| CN101829005B true CN101829005B (en) | 2012-02-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010101798449A Expired - Fee Related CN101829005B (en) | 2010-05-24 | 2010-05-24 | Gait rehabilitation robot footrest device with metatarsal joints |
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| CN (1) | CN101829005B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105105972A (en) * | 2015-09-29 | 2015-12-02 | 南京康龙威康复医学工程有限公司 | Pedal used for pediatric rehabilitation device |
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| CN101987060B (en) * | 2010-11-23 | 2012-05-09 | 哈尔滨工程大学 | Ankle joint recovery trainer through rope traction |
| CN102218005B (en) * | 2011-06-15 | 2013-02-06 | 哈尔滨工程大学 | Phalanx joint rehabilitation mechanism of pedal gait rehabilitation trainer |
| CN102384851A (en) * | 2011-09-07 | 2012-03-21 | 中国汽车技术研究中心 | Pulley steel wire type mechanical leg execution mechanism for automobile test driving |
| CN103211692A (en) * | 2012-11-12 | 2013-07-24 | 王胜豪 | Pedal moving machine |
| CN103230334B (en) * | 2013-04-26 | 2015-03-11 | 哈尔滨工程大学 | Ankle flexion and extension rehabilitation training machine |
| CN103405896B (en) * | 2013-08-22 | 2015-04-08 | 广州龙之杰科技有限公司 | Pedal device applicable to spasm patients |
| CN106456432B (en) * | 2014-03-21 | 2019-03-01 | 万德克拉夫特公司 | Ectoskeleton including foot structure |
| CN104586606A (en) * | 2015-01-21 | 2015-05-06 | 卢壮华 | Cycle ergometer used for lower limb dysfunction patient rehabilitation training |
| CN104887452A (en) * | 2015-07-03 | 2015-09-09 | 南通美嘉机器人科技有限公司 | Parallel ankle joint rehabilitation robot |
| CN108210242B (en) * | 2016-12-15 | 2020-02-18 | 上海理工大学 | Traction type ankle joint rehabilitation training device |
| CN107719505B (en) * | 2017-09-27 | 2019-11-01 | 深圳市行者机器人技术有限公司 | A kind of foot formula mobile platform |
| CN108606908B (en) * | 2018-05-11 | 2019-12-06 | 崔静 | Lower limb rehabilitation walking aid and rehabilitation walking aid method thereof |
| CN109528442B (en) * | 2018-11-20 | 2020-09-15 | 上海市第十人民医院 | Ankle joint rehabilitation training auxiliary device |
| CN111166607B (en) * | 2019-10-19 | 2021-11-19 | 浙江省海洋开发研究院 | Comprehensive ankle joint rehabilitation training device |
| CN111150605A (en) * | 2020-01-14 | 2020-05-15 | 北京航空航天大学 | Wearable flexible ankle joint assist drive device based on rope transmission |
| CN111659006B (en) * | 2020-06-11 | 2021-11-19 | 浙江大学 | Gait acquisition and neuromuscular electrical stimulation system based on multi-sensing fusion |
| CN111671624B (en) * | 2020-06-22 | 2021-08-27 | 山东大学 | Wearable metatarsophalangeal joint walking power assisting device |
| CN111920650B (en) * | 2020-09-28 | 2021-01-08 | 上海傅利叶智能科技有限公司 | Rotary buffering power-assisted mechanism and exoskeleton ankle joint buffering power-assisted device |
| CN113288544A (en) * | 2021-06-23 | 2021-08-24 | 贵州中医药大学 | Ankle foot correction plate for improving enstrophe of stroke patient and helping fixation |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0782843B1 (en) * | 1996-01-02 | 2002-07-31 | Benito Ferrati | Orthopedic rehabilitation apparatus using virtual reality units |
| CN101548925A (en) * | 2009-05-05 | 2009-10-07 | 浙江大学 | Gait phase detection apparatus with ankle joint angle self-rectification function |
-
2010
- 2010-05-24 CN CN2010101798449A patent/CN101829005B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0782843B1 (en) * | 1996-01-02 | 2002-07-31 | Benito Ferrati | Orthopedic rehabilitation apparatus using virtual reality units |
| CN101548925A (en) * | 2009-05-05 | 2009-10-07 | 浙江大学 | Gait phase detection apparatus with ankle joint angle self-rectification function |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105105972A (en) * | 2015-09-29 | 2015-12-02 | 南京康龙威康复医学工程有限公司 | Pedal used for pediatric rehabilitation device |
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| Publication number | Publication date |
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| CN101829005A (en) | 2010-09-15 |
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