CN105362034A - Training and motion state detection integrated device for rehabilitation training of dorsiflexion and plantarflexion of ankle joints - Google Patents
Training and motion state detection integrated device for rehabilitation training of dorsiflexion and plantarflexion of ankle joints Download PDFInfo
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- CN105362034A CN105362034A CN201510444428.XA CN201510444428A CN105362034A CN 105362034 A CN105362034 A CN 105362034A CN 201510444428 A CN201510444428 A CN 201510444428A CN 105362034 A CN105362034 A CN 105362034A
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Abstract
The invention discloses a training and motion state detection integrated device for rehabilitation training of dorsiflexion and plantarflexion of ankle joints. The device comprises a supporting mechanism, a driving portion, a transmission portion and a detection portion. The driving portion comprises a motor and a speed reducer; the transmission portion comprises a small belt pulley, a synchronous belt, a larger belt pulley and a sensor fixing shaft; the detection portion comprises a torque sensor and an encoder mounted on the motor. The training and motion state detection integrated device for rehabilitation training of dorsiflexion and plantarflexion of the ankle joints has the advantages that rehabilitation training of dorsiflexion and plantarflexion of the human ankle joints can be realized; by application of the torque sensor and the encoder, information of torques, motion positions and the like of a patient can be acquired in a training process; rehabilitation training and information detection are functionally integrated to provide bases for a rehabilitation evaluation system; the device is integrally simple in structure, easy to produce and manufacture and convenient to maintain.
Description
Technical field
The invention belongs to medical instruments field, be specifically related to the ankle dorsal flexion plantar flexion device for healing and training of a kind of integration trainingt and motion state detection.
Background technology
China's Aging Problem is day by day serious, and apoplectic hemiplegia is the height morbidity in old people, therefore seems particularly important for the posthemiplegic rehabilitation of old people.Hemiplegic patient's ankle dorsiflex obstacle can not overcome drop foot owing to swinging mutually in walking, thus has a strong impact on the recovery of its walking ability, and therefore the globality rehabilitation of rehabilitation to hemiplegic patient of ankle joint has extremely important meaning.
Traditional Rehabilitation means for hemiplegic patient need Physical Therapist to carry out by doing and illustrating, consume a large amount of time and muscle power, and cannot ensure sufficient training time and enough training strength.The most training mode of existing rehabilitation of anklebone instrument is single, lacks patient and trains exercise data to detect, and cannot carry out efficient rehabilitation training.
Summary of the invention
The object of the invention is to solve that traditional ankle joint hemiparalysis recovery workload is large, inefficiency and the training of common rehabilitation equipment not comprehensively, lack patient and train the problems such as exercise data detection, the ankle dorsal flexion plantar flexion device for healing and training of a kind of integration trainingt and motion state detection is provided.
For achieving the above object, the technical solution used in the present invention is as follows:
An ankle dorsal flexion plantar flexion device for healing and training for integration trainingt and motion state detection, comprising: supporting mechanism, drive part, running part and detecting portion;
Supporting mechanism comprises pedal holder, double-row angular contact bal bearing, deep groove ball bearing and bracing frame; Drive part comprises motor and decelerator; Running part comprises small pulley, Timing Belt, large belt wheel and sensor fixed axis; Detecting portion mainly refers to torque sensor and is installed on the encoder on motor.
Further, motor and decelerator are fixed on bracing frame, by small pulley, Timing Belt, large belt wheel and sensor fixed axis, drive pedal holder to rotate around frontal axis, realize dorsiflex and plantar flexion training.
Further, torque sensor is connected with pedal holder by the deep groove ball bearing be arranged in sensor sleeve, keep torque sensor to form relative revolving structure with pedal holder, the radial force simultaneously produced between minimizing pedal holder and torque sensor is on the impact of sensor accuracy.
Further, torque sensor detects the moment of ankle joint when doing dorsiflex and plantar flexion training, and the encoder being installed on motor detects the position of ankle joint when doing dorsiflex and plantar flexion training.
The ankle dorsal flexion plantar flexion device for healing and training of integration trainingt provided by the invention and motion state detection, the rehabilitation training to model of human ankle dorsiflex plantar flexion can be realized, simultaneously by the application of torque sensor and encoder, the information such as the moment of patient in training process, movement position can be obtained, be integrated with rehabilitation training and information detection functions, for rehabilitation evaluation system provides foundation.Compared to prior art, the present invention has the following advantages: one, integrated rehabilitation training and motion state detection, effectively can evaluate progress and the effect of rehabilitation training; Its two, active training and the passive exercise of ankle dorsal flexion plantar flexion can be realized; Its three, described ankle joint rehabilitation training device is applicable to the early, middle and late phase patient of hemiplegia, strong adaptability.
Accompanying drawing explanation
Fig. 1 is the structural representation of ankle dorsal flexion plantar flexion device for healing and training of the present invention.
Fig. 2 is the partial enlarged drawing of bracing frame position of the present invention.
Wherein, 1, motor; 2, decelerator; 3, small pulley; 4, Timing Belt; 5, sensor fixed axis; 6, large belt wheel; 7, bracing frame; 8, double-row angular contact bal bearing; 9, torque sensor; 10, deep groove ball bearing; 11, pedal holder; 12, sensor sleeve.
Detailed description of the invention
Below in conjunction with drawings and the specific embodiments, the present invention is described in detail.
See Fig. 1 and Fig. 2, the ankle dorsal flexion plantar flexion device for healing and training of integration trainingt and motion state detection, comprising: supporting mechanism, drive part, running part and detecting portion.
Supporting mechanism comprises pedal holder 11, double-row angular contact bal bearing 8, deep groove ball bearing 10 and bracing frame 7; Drive part comprises motor 1 and decelerator 2; Running part comprises small pulley 3, Timing Belt 4, large belt wheel 6 and sensor fixed axis 5; The encoder that detecting portion mainly refers to torque sensor 9 and is installed on motor.
As further improvement, torque sensor 9 is connected with pedal holder 11 by the deep groove ball bearing 10 be arranged in sensor sleeve 12, keep torque sensor 9 to form relative revolving structure with pedal holder 11, the radial force simultaneously produced between minimizing pedal holder 11 and torque sensor 9 is on the impact of sensor accuracy.
As further improvement, comprise motor 1 and decelerator 2 is fixed on bracing frame 7, by small pulley 3, Timing Belt 4, large belt wheel 6 and sensor fixed axis 5, drive pedal holder 11 to rotate around frontal axis, realize dorsiflex and plantar flexion training.
When using the ankle dorsal flexion plantar flexion device for healing and training of a kind of integration trainingt of the present invention and motion state detection to carry out rehabilitation training, fixing on the pedal first sole being positioned over ankle pedal holder 11 by instruction person.
When implementing by instruction person's passive exercise, motor 1 is operated in mode position, and motor 1 and decelerator 2, by small pulley 3, Timing Belt 4 and large belt wheel 6, connect torque sensor 9 through sensor fixed axis 5, drive pedal holder 11 to make dorsiflex plantar flexion passive exercise; When implementing by instruction person's active training, motor 1 is operated in torque mode, is initiatively done varus and valgus action by instruction person, rotates through torque sensor 9 and the reverse drive motor 1 of toothed belt transmission, motor 1 exports fixed end taken about the point of fixation, can provide and be trained required fixing damping by instruction person.Torque sensor 9 and the encoder being installed on motor 1 can detect the moment of ankle joint when doing varus and valgus training and position, for initiatively and passive exercise feedback is provided, the more important thing is and can obtain physical training condition, contribute to setting up rehabilitation evaluation system.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (3)
1. an ankle dorsal flexion plantar flexion device for healing and training for integration trainingt and motion state detection, it is characterized in that, this device comprises: supporting mechanism, drive part, running part and detecting portion;
Described supporting mechanism comprises pedal holder (11), double-row angular contact bal bearing (8), deep groove ball bearing (10) and bracing frame (7);
Described drive part comprises the motor (1) and decelerator (2) that connect successively;
Described running part comprises small pulley (3), Timing Belt (4), large belt wheel (6) and sensor fixed axis (5);
The encoder that described detecting portion comprises torque sensor (9) and is installed on motor (1).
2. the ankle dorsal flexion plantar flexion device for healing and training of integration trainingt according to claim 1 and motion state detection, it is characterized in that, motor (1) and decelerator (2) are fixed on bracing frame (7), drive pedal holder (11) to rotate around frontal axis by small pulley (3), Timing Belt (4), large belt wheel (6) and sensor fixed axis (5).
3. the ankle dorsal flexion plantar flexion device for healing and training of integration trainingt according to claim 1 and 2 and motion state detection, it is characterized in that, torque sensor (9) is connected with pedal holder (11) by the deep groove ball bearing (10) be arranged in sensor sleeve (12), keeps torque sensor (9) to form relative revolving structure with pedal holder (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510444428.XA CN105362034A (en) | 2015-07-26 | 2015-07-26 | Training and motion state detection integrated device for rehabilitation training of dorsiflexion and plantarflexion of ankle joints |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510444428.XA CN105362034A (en) | 2015-07-26 | 2015-07-26 | Training and motion state detection integrated device for rehabilitation training of dorsiflexion and plantarflexion of ankle joints |
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| CN105362034A true CN105362034A (en) | 2016-03-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510444428.XA Pending CN105362034A (en) | 2015-07-26 | 2015-07-26 | Training and motion state detection integrated device for rehabilitation training of dorsiflexion and plantarflexion of ankle joints |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105853144A (en) * | 2016-04-08 | 2016-08-17 | 王春宝 | Training and motion state detection integrated ankle dorsiflexion and plantarflexion rehabilitation training device |
| CN106880469A (en) * | 2017-02-24 | 2017-06-23 | 上海交通大学 | Ankle rehabilitation ESD |
| CN107411936A (en) * | 2017-08-29 | 2017-12-01 | 张伟 | A kind of multi-functional ankle pump |
| CN111631903A (en) * | 2020-05-27 | 2020-09-08 | 太原理工大学 | Torque output device based on force sensor feedback |
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| CN104385266A (en) * | 2014-08-28 | 2015-03-04 | 北京邮电大学 | Seven-degree-of-freedom external skeleton type teleoperation main hand |
| 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 |
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| CN205108255U (en) * | 2015-07-26 | 2016-03-30 | 广东铭凯医疗机器人有限公司 | Rehabilitation training device is bent to integrated training and motion state detection's ankle joint dorsiflex sole of foot |
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| US20050239611A1 (en) * | 2001-08-21 | 2005-10-27 | Commisso Luis A | Leg-ankle-foot exercise assembly |
| CN104013408A (en) * | 2014-06-26 | 2014-09-03 | 李宁体育(上海)有限公司 | System for measuring and training joint torque |
| CN104385266A (en) * | 2014-08-28 | 2015-03-04 | 北京邮电大学 | Seven-degree-of-freedom external skeleton type teleoperation main hand |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105853144A (en) * | 2016-04-08 | 2016-08-17 | 王春宝 | Training and motion state detection integrated ankle dorsiflexion and plantarflexion rehabilitation training device |
| CN105853144B (en) * | 2016-04-08 | 2017-12-19 | 王春宝 | The ankle dorsal flexion plantar flexion device for healing and training of integration trainingt and motion state detection |
| CN106880469A (en) * | 2017-02-24 | 2017-06-23 | 上海交通大学 | Ankle rehabilitation ESD |
| CN107411936A (en) * | 2017-08-29 | 2017-12-01 | 张伟 | A kind of multi-functional ankle pump |
| CN107411936B (en) * | 2017-08-29 | 2023-12-26 | 张伟 | Multifunctional ankle pump |
| CN111631903A (en) * | 2020-05-27 | 2020-09-08 | 太原理工大学 | Torque output device based on force sensor feedback |
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