CN104434127B - Three-degree of freedom ankle joint motion state detection device - Google Patents
Three-degree of freedom ankle joint motion state detection device Download PDFInfo
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- CN104434127B CN104434127B CN201410787007.2A CN201410787007A CN104434127B CN 104434127 B CN104434127 B CN 104434127B CN 201410787007 A CN201410787007 A CN 201410787007A CN 104434127 B CN104434127 B CN 104434127B
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- runing rest
- rotating shaft
- adjustable nut
- encoder
- pedal
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- 238000001514 detection method Methods 0.000 title claims abstract description 46
- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 26
- 238000013016 damping Methods 0.000 claims abstract description 13
- 235000008331 Pinus X rigitaeda Nutrition 0.000 claims 1
- 235000011613 Pinus brutia Nutrition 0.000 claims 1
- 241000018646 Pinus brutia Species 0.000 claims 1
- 210000003423 ankle Anatomy 0.000 abstract description 11
- 238000012423 maintenance Methods 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- ZMNSRFNUONFLSP-UHFFFAOYSA-N mephenoxalone Chemical compound COC1=CC=CC=C1OCC1OC(=O)NC1 ZMNSRFNUONFLSP-UHFFFAOYSA-N 0.000 abstract description 2
- 229960001030 mephenoxalone Drugs 0.000 abstract description 2
- 230000003447 ipsilateral effect Effects 0.000 description 2
- 208000025978 Athletic injury Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 208000004221 Multiple Trauma Diseases 0.000 description 1
- 208000023637 Multiple injury Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1118—Determining activity level
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1121—Determining geometric values, e.g. centre of rotation or angular range of movement
-
- 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
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Veterinary Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- Physics & Mathematics (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Pathology (AREA)
- Medical Informatics (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Surgery (AREA)
- Dentistry (AREA)
- Molecular Biology (AREA)
- Heart & Thoracic Surgery (AREA)
- Biophysics (AREA)
- Physiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Geometry (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention relates to a kind of three-degree of freedom ankle joint motion state detection device, including：Underframe, by rotating shaft be arranged on underframe on can left-right rotation the first runing rest, by rotating shaft be arranged on the first runing rest on can rotate upwardly and downwardly the second runing rest, by rotating shaft be arranged on the second runing rest on can left and right upset pedal, detection unit and damping unit；First runing rest, the second runing rest and pedal are mounted on detection unit and damping unit in respective rotating shaft core line position.The motion state detection to model of human ankle dorsiflex/open up in the wrong, inversion/eversion and internal/external rotations Three Degree Of Freedom can be achieved in the present invention, and overall structure is simple, it is easy, easy to maintenance to manufacture.
Description
Technical field
The invention belongs to medical instruments field, and in particular to a kind of three-degree of freedom ankle joint motion state detection device.
Background technology
The multiple injury gained in sports for being born in ankle-joint of the sports injuries of sportsman, at the same after hemiplegia ankle-joint rehabilitation training
Seem very crucial, therefore the demand of the rehabilitation training of ankle-joint is increasing.Traditional Rehabilitation means need Physical Therapist to enter by doing and illustrating
OK, substantial amounts of time and muscle power are consumed, and the training time of abundance and enough training strength can not be ensured.
China is used for ankle motion and damaged at this stage, and the device of posthemiplegic rehabilitation training is more and more, but all limits to
In the motion state of the rehabilitation training to Ipsilateral, the not strong side ankle-joint of device detection, and it is good for the motion state of side ankle-joint
Rehabilitation training of the information to Ipsilateral ankle-joint has the meaning of directiveness.
The content of the invention
The invention aims to fill up the blank of domestic ankle motion condition checkout gear, ankle-joint is obtained real-time
Movement state information there is provided a kind of three-degree of freedom ankle joint motion state detection device, provided for the rehabilitation training of ankle-joint
Directive function.
To achieve the above object, the technical solution adopted by the present invention is as follows：
Three-degree of freedom ankle joint motion state detection device, it is characterized in that, including：Underframe, installed by rotating shaft
On underframe can left-right rotation the first runing rest, by rotating shaft be arranged on the first runing rest on can rotate upwardly and downwardly second
Runing rest, by rotating shaft be arranged on the second runing rest on can left and right upset pedal, detection unit and damping unit；Institute
State the first runing rest, the second runing rest and pedal and be mounted on detection unit and resistance in respective rotating shaft core line position
Buddhist nun's unit；
The detection unit each axis of rotation when rotating for the first runing rest of detection, the second runing rest and pedal
The encoder of rotation angle value；
The damping unit be for the first runing rest, the second runing rest and pedal provide resistance when rotating can
Adjust nut.
Further, the detection unit includes encoder I, encoder II and encoder III；The damping unit includes can
Adjust nut I, adjustable nut II and adjustable nut III；
First runing rest is connected on underframe by rotating shaft, be provided with the axial line of the rotating shaft encoder I and
Adjustable nut I；Two sides of second runing rest are connected on the first runing rest by rotating shaft, the axial line of the rotating shaft
On encoder II and adjustable nut II are installed；The front and back end of the pedal is connected and position by rotating shaft with the second runing rest
In being provided with encoder III and adjustable nut III on the inside of the second runing rest, the axial line of the rotating shaft.
Further, the encoder I is used for the angle for detecting that the first runing rest swings；The encoder II is used for
Detect the angle that the second runing rest is swung up and down；The encoder III is used for the angle for detecting pedal or so flip-flop movement.
Further, adjustable nut I is installed on the axial line of the first runing rest roll motion, and detection means passes through
Resistance is provided to the roll motion for being adjusted to the first runing rest of adjustable nut I tightness；Adjustable nut II is installed
Swung up and down in the second runing rest on the axial line of motion, detection means is by passing through the tune to adjustable nut II tightness
Save and provide resistance for the motion that swings up and down of the second runing rest；Adjustable nut III is installed on pedal or so flip-flop movement
On axial line, detection means provides resistance by the left and right flip-flop movement for being adjusted to pedal to adjustable nut III tightness
Power.
The three-degree of freedom ankle joint motion state detection device that the present invention is provided, can be achieved to model of human ankle dorsiflex/open up
The motion state detection of in the wrong, inversion/eversion and internal/external rotations Three Degree Of Freedom, has filled up domestic ankle motion state-detection dress
The blank put, and with advantages below：First, the ankle motion condition checkout gear overall structure is simple, manufacture
Easily, it is easy to maintenance；Second, the axial line of three gyrations of ankle motion condition checkout gear intersects at pedal
Rear heel at, the physiological movement of altitude simulation ankle-joint；Third, the ankle motion condition checkout gear is closed suitable for ankle
Save the motion state detection in injury gained in sports and ankle-joint hemiparalysis recovery, strong adaptability.
Brief description of the drawings
Fig. 1 is the structural representation of three-degree of freedom ankle joint motion state detection device of the embodiment of the present invention；
Wherein, 1- underframe, the runing rest of 2- encoders I, 3- encoder III, 4- adjustable nut II, 5- second, 6- rides
Plate, the runing rest of 7- adjustable nut III ﹑ 8- encoders II, 9- adjustable nuts I, 10- second.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment the present invention is described in detail.
Referring to Fig. 1, the three-degree of freedom ankle joint motion state detection device of the embodiment of the present invention, including underframe 1, by turning
Axle be arranged on underframe 1 on can left-right rotation the first runing rest 10, by rotating shaft be arranged on the first runing rest 10 on can on
Second runing rest 5 of lower rotation, by rotating shaft be arranged on the second runing rest 5 can the pedal 6 of left and right upset, detection it is single
Member and damping unit；First runing rest 10, the second runing rest 5 and pedal 6 are pacified in respective rotating shaft core line position
Equipped with detection unit and damping unit.Pass through the knot of the present apparatus the first runing rest 10, the second runing rest 5 and pedal 6
Structure Combination Design, can be achieved flexible rotating of the pedal on three degree of freedom direction.
Detection unit each axis of rotation when rotating for the first runing rest 10 of detection, the second runing rest 5 and pedal 6
The encoder of rotation angle value.Damping unit is to be the first runing rest 10, the second runing rest 5 and pedal 6 when rotating
The adjustable nut of resistance is provided.Detection unit includes encoder I2, encoder II8 and encoder III3；Damping unit includes can
Adjust nut I9, adjustable nut II4 and adjustable nut III7；The encoder and adjustable nut that each rotating shaft is installed are symmetrically arranged on axle
The both sides of line, play detection movement angle and provide resistance respectively.First runing rest 10 is connected to underframe 1 by rotating shaft
On, encoder I2 and adjustable nut I9 are installed on the axial line of the rotating shaft；Two sides of the second runing rest 5 are connected by rotating shaft
It is connected on the first runing rest 10, encoder II8 and adjustable nut II4 is installed on the axial line of the rotating shaft；Before pedal 6
Rear end is connected with the second runing rest 5 by rotating shaft and installed on the inside of the second runing rest 5, the axial line of the rotating shaft
There are encoder III3 and adjustable nut III7.Encoder I2 is used for the angle for detecting that the first runing rest 10 swings；Coding
Device II8 is used for the angle for detecting that the second runing rest 5 is swung up and down；Encoder III3 is used to detect the upset fortune of pedal 6 or so
Dynamic angle.Adjustable nut I9 is installed on the axial line of the roll motion of the first runing rest 10, and it is right that detection means passes through
The roll motion for being adjusted to the first runing rest 10 of adjustable nut I9 tightness provides resistance；Adjustable nut II4 pacifies
Swung up and down loaded on the second runing rest 5 on the axial line of motion, detection means passes through the tune to adjustable nut II4 tightness
Save and provide resistance for the motion that swings up and down of the second runing rest 5；Adjustable nut III7 is installed on the flip-flop movement of pedal 6 or so
Axial line on, detection means is carried by the left and right flip-flop movement for being adjusted to pedal 6 to adjustable nut III7 tightness
For resistance.
When carrying out rehabilitation training using the three-degree of freedom ankle joint motion state detection device of the present invention, user is first by pin
Plate is positioned on pedal 6 and fixed.When implementing motion state detection, user drives pedal by controlling ankle motion
Motion, by realizing that the inversion/eversion of ankle-joint moves the movement angle that encoder III3 can be made to detect inversion/eversion,
The resistance of motion can be adjusted by adjusting adjustable nut III7；By realizing that back of the body song/toe Qu Yundong of ankle-joint can make coding
Device II8 detects the bent movement angle of back of the body song/toe, and the resistance of motion can be adjusted by adjusting adjustable nut II4；By realizing ankle
The internal/external rotations in joint move the movement angle that encoder I2 can be made to detect internal/external rotations, by adjusting adjustable nut I9
The resistance of motion can be adjusted.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modifications, equivalent substitutions and improvements made within refreshing and principle etc., should be included in the scope of the protection.
Claims (4)
1. three-degree of freedom ankle joint motion state detection device, it is characterised in that including：Underframe (1), by rotating shaft be arranged on bottom
On frame (1) can left-right rotation the first runing rest (10), by rotating shaft be arranged on the first runing rest (10) on can up and down turn
Dynamic the second runing rest (5), be arranged on by rotating shaft on the second runing rest (5) can the pedal (6) of left and right upset, detection
Unit and damping unit；First runing rest (10), the second runing rest (5) and pedal (6) are in respective rotating shaft axle
Heart line position is mounted on detection unit and damping unit；
The detection unit is to detect the first runing rest (10), the second runing rest (5) and pedal (6) when rotating each
The encoder of the rotation angle value of rotating shaft；
The damping unit is to provide resistance when rotating for the first runing rest (10), the second runing rest (5) and pedal (6)
The adjustable nut of power.
2. three-degree of freedom ankle joint motion state detection device according to claim 1, it is characterised in that the detection list
Member includes encoder I (2), encoder II (8) and encoder III (3)；The damping unit includes adjustable nut I (9), adjustable
Nut II (4) and adjustable nut III (7)；
First runing rest (10) is connected on underframe (1) by rotating shaft, and encoder I is provided with the axial line of the rotating shaft
And adjustable nut I (9) (2)；Two sides of second runing rest (5) are connected to the first runing rest (10) by rotating shaft
On, encoder II (8) and adjustable nut II (4) are installed on the axial line of the rotating shaft；The front and back end of the pedal (6) passes through
Rotating shaft is connected with the second runing rest (5) and is provided with volume on the inside of the second runing rest (5), the axial line of the rotating shaft
Code device III (3) and adjustable nut III (7).
3. three-degree of freedom ankle joint motion state detection device according to claim 2, it is characterised in that the encoder
I (2) is used for the angle for detecting that the first runing rest (10) swings；The encoder II (8) is used to detect the second rotation branch
The angle that frame (5) is swung up and down；The encoder III (3) is used for the angle for detecting pedal (6) left and right flip-flop movement.
4. three-degree of freedom ankle joint motion state detection device according to claim 2, it is characterised in that adjustable nut I
(9) on the axial line for being installed on the first runing rest (10) roll motion, detection means passes through to adjustable nut I (9) pines
The roll motion for being adjusted to the first runing rest (10) of tight degree provides resistance；Adjustable nut II (4) is installed on second
Runing rest (5) is swung up and down on the axial line of motion, and detection means to adjustable nut II (4) tightness by being adjusted to
The motion that swings up and down of second runing rest (5) provides resistance；Adjustable nut III (7) is installed on pedal (6) left and right upset fortune
On dynamic axial line, detection means is overturn by the left and right for being adjusted to pedal (6) to adjustable nut III (7) tightness
Motion provides resistance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410787007.2A CN104434127B (en) | 2014-12-17 | 2014-12-17 | Three-degree of freedom ankle joint motion state detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410787007.2A CN104434127B (en) | 2014-12-17 | 2014-12-17 | Three-degree of freedom ankle joint motion state detection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104434127A CN104434127A (en) | 2015-03-25 |
| CN104434127B true CN104434127B (en) | 2017-11-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410787007.2A Active CN104434127B (en) | 2014-12-17 | 2014-12-17 | Three-degree of freedom ankle joint motion state detection device |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105310862B (en) * | 2015-07-26 | 2017-10-31 | 广东铭凯医疗机器人有限公司 | A kind of ankle joint rehabilitation training device |
| CN105362034A (en) * | 2015-07-26 | 2016-03-02 | 广东铭凯医疗机器人有限公司 | Training and motion state detection integrated device for rehabilitation training of dorsiflexion and plantarflexion of ankle joints |
| CN105342804A (en) * | 2015-07-26 | 2016-02-24 | 广东铭凯医疗机器人有限公司 | Internal and external ankle rotation rehabilitation training apparatus integrating training and motion state detections |
| CN105853142B (en) * | 2016-04-08 | 2018-08-31 | 王春宝 | The ankle joint rehabilitation training device of integrated rehabilitation training and motion state detection |
| CN108938338A (en) * | 2017-05-23 | 2018-12-07 | 深圳市奇诺动力科技有限公司 | Exoskeleton robot three-degree of freedom ankle joint device |
| CN108969293A (en) * | 2018-05-28 | 2018-12-11 | 徐州市儿童医院 | Ankle passive movement instrument |
| CN111281548A (en) * | 2020-03-27 | 2020-06-16 | 杨红伟 | Cosmetic plastic surgery robot feedback device |
| CN112315742B (en) * | 2020-11-05 | 2023-07-18 | 九江学院附属医院 | Lower limb rehabilitation training device for nerve intensive care unit |
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| CN101596139A (en) * | 2009-06-29 | 2009-12-09 | 浙江大学 | Assistant movement exoskeleton of three-degree of freedom ankle joint |
| CN102028604A (en) * | 2010-12-21 | 2011-04-27 | 上海电机学院 | Parallel type ankle rehabilitation training apparatus |
| CN103041546A (en) * | 2013-01-15 | 2013-04-17 | 哈尔滨工程大学 | Active and passive type ankle joint rehabilitative apparatus |
| CN103070757A (en) * | 2013-01-08 | 2013-05-01 | 北京工业大学 | Parallel-type initiative/passive ankle rehabilitation training device |
| CN103505342A (en) * | 2013-10-16 | 2014-01-15 | 河北工业大学 | External skeleton type gait rehabilitation training device |
| CN104068991A (en) * | 2014-07-10 | 2014-10-01 | 中国科学院深圳先进技术研究院 | Ankle joint rehabilitation device |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4784771B2 (en) * | 2007-10-01 | 2011-10-05 | 本田技研工業株式会社 | Walking assist device |
| US20100298097A1 (en) * | 2007-11-13 | 2010-11-25 | Universite Libre De Bruxelles | Joint rehabilitation device and method |
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2014
- 2014-12-17 CN CN201410787007.2A patent/CN104434127B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101596139A (en) * | 2009-06-29 | 2009-12-09 | 浙江大学 | Assistant movement exoskeleton of three-degree of freedom ankle joint |
| CN102028604A (en) * | 2010-12-21 | 2011-04-27 | 上海电机学院 | Parallel type ankle rehabilitation training apparatus |
| CN103070757A (en) * | 2013-01-08 | 2013-05-01 | 北京工业大学 | Parallel-type initiative/passive ankle rehabilitation training device |
| CN103041546A (en) * | 2013-01-15 | 2013-04-17 | 哈尔滨工程大学 | Active and passive type ankle joint rehabilitative apparatus |
| CN103505342A (en) * | 2013-10-16 | 2014-01-15 | 河北工业大学 | External skeleton type gait rehabilitation training device |
| CN104068991A (en) * | 2014-07-10 | 2014-10-01 | 中国科学院深圳先进技术研究院 | Ankle joint rehabilitation device |
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| CN104434127A (en) | 2015-03-25 |
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Inventor after: Wang Chunbao Inventor after: Long Jianjun Inventor after: Li Hua Inventor after: Guo Shanshan Inventor after: Li Weiguang Inventor after: Yao Xifan Inventor after: Zhang Qin Inventor after: Wei Jianjun Inventor after: Chen Wensheng Inventor after: Sun Tongyang Inventor after: Lu Zhixiang Inventor after: Duan Lihong Inventor after: Hou Anxin Inventor after: Xia Jinfeng Inventor after: Wang Nuan Inventor after: Li Meng Inventor after: Cai Xiaoyin Inventor after: Wang Guojun Inventor after: Wang Chunyu Inventor after: Li Limin Inventor after: Sang Xiaorong Inventor after: Takanishi Atsuo Inventor after: Shen Yajing Inventor after: Fujie Masakatsu Inventor after: Masiri zeca Arnold Inventor after: Zhang Xiaoli Inventor after: Liu Quanquan Inventor after: Shang Wanfeng Inventor after: Lin Chaohua Inventor after: Shi Qing Inventor after: Wang Yulong Inventor after: Wu Zhengzhi Inventor before: Wang Chunbao Inventor before: Wu Zhengzhi Inventor before: Li Weiguang Inventor before: Duan Lihong Inventor before: Lu Zhijiang Inventor before: Li Mengjie Inventor before: Wang Lin Inventor before: Zhang Xiaoli Inventor before: Ni Xinqiang |
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Effective date of registration: 20170925 Address after: 518035, room 823, Yinhua building, No. 3002, Sungang West Road, Futian District, Guangdong, Shenzhen Applicant after: Wang Chunbao Address before: 518000 Shenzhen geriatrics Institute, No. 1017 Dongmen North Road, Guangdong, Shenzhen, Luohu District Applicant before: Shenzhen Institute of Gerontology Applicant before: Wu Zhengzhi Applicant before: Wang Chunbao |
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Effective date of registration: 20180402 Address after: 518035 Yinhua building, No. 3004 Sungang West Road, Mei Gang community, Shenzhen City, Futian District, Guangdong Province, 18EE05 Patentee after: GUANGDONG MINGKAI MEDICAL ROBOT CO., LTD. Address before: 518035, room 823, Yinhua building, No. 3002, Sungang West Road, Futian District, Guangdong, Shenzhen Patentee before: Wang Chunbao |
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Effective date of registration: 20211111 Address after: 518000 401, building B, huahaotai Industrial Zone, No. 12, Longguan Road, Yucui community, Longhua street, Longhua District, Shenzhen City, Guangdong Province Patentee after: Guangdong Mingkai medical robot Co., Ltd Address before: 518035 room 823, Yinhua building, 3002 Sungang West Road, Futian District, Shenzhen, Guangdong Patentee before: Wang Chunbao |