CN107174206B - Human ankle joint rigidity detection device - Google Patents
Human ankle joint rigidity detection device Download PDFInfo
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- CN107174206B CN107174206B CN201710350411.7A CN201710350411A CN107174206B CN 107174206 B CN107174206 B CN 107174206B CN 201710350411 A CN201710350411 A CN 201710350411A CN 107174206 B CN107174206 B CN 107174206B
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- A61B5/4595—Evaluating the ankle
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Abstract
The invention relates to a human ankle joint rigidity detection device which mainly comprises a fixed platform, a movable platform, a restraint branched chain and UPS branched chains, wherein the lower end of the restraint branched chain is in rotating fit with the fixed platform, the lower parts of 2 UPS branched chains are symmetrically arranged on the fixed platform, the movable platform is connected with the upper parts of the restraint branched chain, and meanwhile, the movable platform is connected with the upper parts of the 2 UPS branched chains through a V-shaped frame to form a 2-UPS parallel mechanism. The device has 3 rotational degrees of freedom and can complete dorsal extension/toe flexion, varus/valgus and adduction/abduction actions. The human ankle adopts the mode of compact connection to be connected with moving the platform, installs power/moment sensor in man-machine interface department, simultaneously, is equipped with 1 angle sensor respectively in 3 revolute joint punishment, can realize measuring the rigidity of human ankle joint, can change the inclination of moving the platform through adjusting the sliding pair of 2 UPS branched chains to survey human ankle joint when being in different gestures rigidity.
Description
Technical Field
The invention relates to a detection device, in particular to a device for detecting the rigidity of a human ankle joint.
Background
The ankle joint is a moving joint of a human body and is also the joint with the largest load bearing capacity, and particularly when the ankle joint runs and jumps, the ankle joint can bear huge load and impact, so that sprain is easy to happen. In addition, the nerve function is damaged after the stroke, and the muscles around the ankle joint are also fatigued, so that the human body cannot walk like a normal person. After the ankle joint is sprained, if the treatment is not timely, the ankle joint ligament is easy to be excessively loosened, the joint is unstable, repeated sprains are easy to be caused, and the walking function is seriously influenced.
In recent years, the international research on the joint stiffness becomes a hot point of the physics and materials society, the health degree and the pressure bearing capacity of the human joint are evaluated by analyzing the measured human joint stiffness data, and the method has important significance for the rehabilitation and the prevention of the injury of the human joint. The ankle joint stiffness is a direct expression of ankle joint function indexes, and the ankle joint stiffness data of a human body is analyzed, so that the ankle joint injury can be prevented, the ankle joint rehabilitation training mode and strength can be improved, and the ankle joint rehabilitation training effect can be judged. To date, various mechanisms for ankle rehabilitation training have been researched for ankle injuries at home and abroad, but most of products are intended for active rehabilitation training, and research investment for ankle rigidity detection is low, which brings much inconvenience to ankle rigidity measurement and analysis.
Disclosure of Invention
The invention aims to provide a human ankle joint rigidity detection device to solve the problems.
The embodiment of the invention provides a human ankle joint rigidity detection device which is characterized by comprising a fixed platform, a movable platform, a constraint branched chain and a UPS branched chain, wherein the movable platform, the constraint branched chain and the UPS branched chain are all arranged on the fixed platform; the movable platform is connected with the upper parts of the 2 UPS branched chains through the V-shaped frame, the lower parts of the 2 UPS branched chains are arranged on the fixed platform, and meanwhile, the movable platform is connected with the fixed platform through the constraint branched chain; the ankle joint rigidity detection device is connected with the human ankle in a compact connection mode, and a force/moment sensor is installed at a man-machine connection interface to achieve force/moment measurement of the human ankle joint.
Further, the movable platform mainly comprises a support plate, a middle plate, a pedal plate, a torque sensor, a tension and pressure sensor, a stepped shaft and a torque transmission shaft; the middle plate is arranged above the supporting plate, the middle part of the supporting plate is provided with a stepped shaft, a stepped through hole is formed in the stepped shaft, and the torque sensor is arranged in the stepped through hole; the torque shaft is arranged on the middle plate, and the lower end of the torque transmission shaft is connected with the torque sensor through a torque transmission spoke plate; four pull pressure sensors are uniformly arranged on the upper part of the middle plate, the pedal plates are arranged on the four pull pressure sensors and are parallel to the middle plate, four through holes are formed in the corresponding positions of the pedal plates, and the pedal plates and the pull pressure sensors are fixed together in a threaded connection mode.
Furthermore, the restraint branched chain comprises a U-shaped rod, a C-shaped rod and an L-shaped rod, two sides of the C-shaped rod are in rotating fit with the U-shaped rod along the horizontal direction and are second rotating joints, the matching axis is an X axis, and the C-shaped rod can rotate around the X axis; the dorsiflexion/toe flexion sensor is arranged on the right side plate of the U-shaped rod and is used for measuring the rotation angle of the C-shaped rod relative to the U-shaped rod around the X axis; the lower part of the L-shaped rod is fixed with the support plate, the upper part of the L-shaped rod is rotationally matched with the middle part of the C-shaped rod and is a third rotary joint, the matching axis is a Y axis, the Y axis is vertical to and intersected with the X axis, and the L-shaped rod can rotate around the Y axis; the varus/valgus sensor is arranged on the outer side of the middle part of the C-shaped rod and is used for measuring the rotation angle of the L-shaped rod relative to the C-shaped rod around the Y axis; the U-shaped rod of the restraint branched chain is arranged on the fixed platform, is in rotating fit with the fixed platform along the vertical direction and is a first rotating joint, the matching axis is a Z axis, the Z axis is vertical to the X axis, and the restraint branched chain can integrally rotate around the Z axis after passing through the intersection point of the X axis and the Y axis;
the adduction/abduction sensor is installed on the inner side of the middle part of the U-shaped rod and measures the rotation angle of the U-shaped rod around the Z axis relative to the fixed platform.
Furthermore, the UPS branched chain comprises a hooke pair, a moving pair and a ball pair, wherein the hooke pair is arranged at the lower part of the moving pair, and the ball pair is arranged at the upper part of the moving pair; the Hooke pair has 2 rotational degrees of freedom, one end of the Hooke pair is fixed on the fixed platform, and the other end of the Hooke pair is connected with the bottom end of the moving pair; the sliding pair consists of a supporting cylinder, a lead screw, a flat key and a manual nut, wherein the manual nut is arranged on the upper part of the supporting cylinder and is in running fit with the supporting cylinder;
compared with the prior art, the invention has the beneficial effects that: the force/moment sensor is added in the man-machine connection link, the rigidity of the human ankle joint at different angle positions is measured, and the obtained data has important reference value for evaluating the rehabilitation degree of a patient and examining and evaluating the normal human ankle joint.
Drawings
FIG. 1 is an axial view of a human ankle joint rigidity detecting apparatus according to the present invention;
FIG. 2 is a left side view of a human ankle joint rigidity detecting apparatus of the present invention;
FIG. 3 is an isometric view of the movable platform;
FIG. 4 is a cross-sectional view of the torque sensor assembly;
FIG. 5 is a cross-sectional view of a pull and pressure sensor assembly;
FIG. 6 is a cross-sectional view of a first rotary joint;
FIG. 7 is a cross-sectional view of a third revolute joint;
FIG. 8 is a cross-sectional view of a UPS branched kinematic pair;
FIG. 9 is a front view of the back extension limit pose of the ankle rigidity detection apparatus of the present invention;
FIG. 10 is a front view of the ankle joint stiffness detecting apparatus in the toe flexion limit position of the present invention;
FIG. 11 is a left side view of an extreme pose of an ankle joint stiffness detection apparatus according to the present invention;
FIG. 12 is a left view of the eversion limit pose of the ankle rigidity detection device of the present invention;
FIG. 13 is a top view of the ankle joint stiffness detecting apparatus in the adduction limit position of the present invention;
fig. 14 is a top view of the abduction limit attitude of an ankle joint rigidity detection apparatus of the present invention.
Detailed Description
The present invention is described in detail with reference to the embodiments shown in the drawings, but it should be understood that these embodiments are not intended to limit the present invention, and those skilled in the art should understand that functional, methodological, or structural equivalents or substitutions made by these embodiments are within the scope of the present invention.
Referring to fig. 1 to 14, fig. 1 is an axial view of a human ankle stiffness detecting apparatus according to the present invention; FIG. 2 is a left side view of a human ankle joint rigidity detecting apparatus of the present invention; FIG. 3 is an isometric view of the movable platform; FIG. 4 is a cross-sectional view of the torque sensor assembly; FIG. 5 is a cross-sectional view of a pull and pressure sensor assembly; FIG. 6 is a cross-sectional view of a first rotary joint; FIG. 7 is a cross-sectional view of a third revolute joint; FIG. 8 is a cross-sectional view of a UPS branched kinematic pair; FIG. 9 is a front view of the back extension limit pose of the ankle rigidity detection apparatus of the present invention; FIG. 10 is a front view of the ankle joint stiffness detecting apparatus in the toe flexion limit position of the present invention; FIG. 11 is a left side view of an extreme pose of an ankle joint stiffness detection apparatus according to the present invention; FIG. 12 is a left view of the eversion limit pose of the ankle rigidity detection device of the present invention; FIG. 13 is a top view of the ankle joint stiffness detecting apparatus in the adduction limit position of the present invention; fig. 14 is a top view of the abduction limit attitude of an ankle joint rigidity detection apparatus of the present invention.
This embodiment provides an ankle joint rigidity detection device, it is shown with reference to fig. 1 to 14, this ankle joint rigidity detection device include that 1 decides platform, 1 moves platform, 1 restraint branched chain and 2 UPS branched chains, restraint branched chain and 2 UPS branched chains are all installed decide on the platform 1, the restraint branched chain with decide 1 normal running fit of platform, 2 UPS branched chain lower extreme symmetries are installed decide on the platform 1, move the platform with restraint branched chain upper portion is connected, simultaneously, move the platform and pass through V-arrangement frame 10 and be connected with 2 UPS branched chain upper portions, ankle 104 adopts the mode of the connection of compacting and moves the platform and be connected.
In the present embodiment, as shown in fig. 1, 2, 3, 4 and 5, the movable platform mainly includes a support plate 7, an intermediate plate 8, a foot pedal 9, a torque sensor 106, a torque transmission spider 20, a stepped shaft 17, a torque transmission shaft 19, a tension/pressure sensor 105, and the like. The support plate 7 is fixed with the lower part of the L-shaped frame 6, the stepped shaft 17 is installed on the support plate 7, a stepped through hole is formed in the stepped shaft 17, the torque sensor 106 is placed in the stepped through hole of the stepped shaft 17 and fixed on a stepped shaft end cover 18, and the torque transmission spoke plate 20 is installed on the upper part of the torque sensor 106. The first-level deep groove ball bearing 21 and the second-level deep groove ball bearing 22 are installed in the step through hole of the stepped shaft 17 and located above the torque transmission spoke disc 20, a first-level bearing gasket 24 is installed between the two bearings, the outer ring of the lower end of the second-level deep groove ball bearing 22 is in contact with the neck portion of the step through hole, and the outer ring of the upper end of the first-level deep groove ball bearing 21 is pressed tightly through a first-level bearing end cover 23. The torque transmission shaft 19 is in interference fit with the first-stage deep groove ball bearing 21 and the second-stage deep groove ball bearing 22, a shaft shoulder of the torque transmission shaft 19 is in contact with an upper inner ring of the first-stage deep groove ball bearing 21, a bearing retainer ring 25 is mounted on the torque transmission shaft 19, the bearing retainer ring 25 is in contact with a lower inner ring of the second-stage deep groove ball bearing 22, and the lower end of the torque transmission shaft 19 is connected with the torque transmission radial disc 20 through a flat key 26. The intermediate plate 8 is mounted above the torque transmission shaft 19 and parallel to the support plate 7. The lower parts of the 4 pulling pressure sensors are uniformly arranged on the upper part of the middle plate 8 through threaded connection, the pedal plate 9 is placed on the upper part of the pulling pressure sensor 105 and is parallel to the middle plate 8, 4 through holes are formed in the positions, corresponding to the 4 pulling pressure sensors, of the pedal plate 9, and the pedal plate 9 and the pulling pressure sensor 105 are fixed together through threaded connection.
In the present embodiment, as shown in fig. 1, 2 and 6, the restricting branched chain includes a lower link 2, a left link 3, a right link 4, a C-shaped lever 5 and an L-shaped lever 6. A third-level deep groove ball bearing 28 and a fourth-level deep groove ball bearing 29 are arranged in a step through hole in the middle of the lower connecting rod 2, a second-level bearing gasket 30 is arranged between the three bearings, the outer ring of the upper end of the fourth-level deep groove ball bearing 29 is in contact with a neck part of the step through hole, and the outer ring of the lower end of the third-level deep groove ball bearing 28 is pressed tightly through a second-level bearing end cover 31. Z direction pivot 27 with tertiary deep groove ball bearing 28 with level four deep groove ball bearing 29 interference fit, Z direction pivot 27 the shaft shoulder with the contact of tertiary deep groove ball bearing 28 lower part inner circle, Z direction pivot 27 upper portion is equipped with lock nut, level four deep groove ball bearing 29 upper end inner circle with lock nut contacts, Z direction pivot 27 lower part is fixed decide on the platform 1. An adduction/abduction sensor holder 32 is mounted on the upper portion of the lower link 2, an adduction/abduction sensor 103 is mounted on the adduction/abduction sensor holder 32, and an output shaft of the adduction/abduction sensor 103 is connected to the Z-direction rotating shaft 27 and fixed by a jackscrew.
In the present embodiment, referring to fig. 1, 2 and 7, the lower ends of the left link 3 and the right link 4 are vertically installed at both sides of the lower link 2, respectively, to form a U-shaped rod. The middle part of the C-shaped rod 5 is provided with a step through hole, a five-level deep groove ball bearing 34 and a six-level deep groove ball bearing 35 are arranged in the step through hole, a three-level bearing gasket 36 is arranged between the two bearings, the outer ring of the right side of the five-level deep groove ball bearing 34 is in necking contact with the step through hole, and the outer ring of the left side of the six-level deep groove ball bearing 35 is pressed tightly through a three-level bearing end cover 37. Y direction pivot 33 with five-level deep groove ball bearing 34 with six-level deep groove ball bearing 35 interference fit, the shaft shoulder of Y direction pivot 33 with five-level deep groove ball bearing 34 right side inner circle contact, Y direction pivot 33 left end is equipped with lock nut, six-level deep groove ball bearing 35 left side inner circle with lock nut contact, Y direction pivot 33 right-hand member with L shape pole 6 is fixed together. An inner/outer tilting sensor bracket 38 is mounted on the C-shaped rod 5 through the three-stage bearing end cover 37, an inner/outer tilting sensor 102 is mounted on the inner/outer tilting sensor bracket 38, and an output shaft of the inner/outer tilting sensor 102 is connected with the Y-direction rotating shaft 33 and fixed through a jackscrew.
In the present embodiment, as shown in fig. 1, 2, 6 and 7, the connection mode of the second rotary joint and the connection mode of the third rotary joint are completely the same, and the installation mode of the dorsal extension/toe flexion sensor 101 and the installation mode of the varus/valgus sensor 102 are completely the same, so the connection mode of the second rotary joint and the installation mode of the dorsal extension/toe flexion sensor 101 are not described repeatedly.
In this embodiment, referring to fig. 1, fig. 2 and fig. 8, the UPS branches include a left UPS branch composed of a left hooke pair 11, a left sliding pair 13 and a left ball pair 15, and a right UPS branch composed of a right hooke pair 12, a right sliding pair 14 and a right ball pair 16, the left hooke pair 11 is installed at the lower part of the left sliding pair 13, and the left ball pair 15 is installed at the upper part of the left sliding pair 13. The left hooke pair 11 has 2 rotational degrees of freedom, the lower part of the left hooke pair 11 is connected with the fixed platform 1, and the upper part is connected with the bottom end of the left moving pair 13. The left moving pair 13 consists of a screw rod 39, a manual nut 40, a supporting cylinder 41 and a flat key 42, wherein the manual nut 40 is installed on the upper part of the supporting cylinder 41, the manual nut 40 is in running fit with the supporting cylinder 41, the manual nut 40 is in threaded fit with the screw rod 39, the flat key 42 is installed on the side surface of the bottom of the screw rod 39, a rectangular through groove is formed in the inner side of the supporting cylinder 41, and the flat key 42 is in sliding fit with the rectangular through groove; the left ball pair 15 is composed of a hook hinge and a rotary joint, has 3 rotational degrees of freedom, and the rotary joint is mounted on a boss on the left side of the V-shaped frame 10. Because the installation structure and the connection mode of the right UPS branch chain and the left UPS branch chain are completely the same, the installation mode of the right UPS branch chain is not described repeatedly.
In the present embodiment, referring to fig. 9, 10, 11, 12, 13 and 14, fig. 9 is a posture in which the device reaches a maximum angle of 29.8 ° during the back-extension movement; FIG. 10 shows the device in a toe flexion position at a maximum angle of 40.8 °; fig. 11 shows the device in its position when tilted in-line motion up to a maximum angle of 22 °; figure 12 the device reaches the position of maximum angle 17 ° during eversion; FIG. 13 shows the device in the retracted position at a maximum angle of 36 degrees; fig. 14 is a posture in which the device reaches a maximum angle of 25.9 ° during the abduction movement.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (1)
1. A human ankle joint rigidity detection device is characterized by comprising a fixed platform, a movable platform, a constraint branched chain and a UPS branched chain, wherein the movable platform, the constraint branched chain and the UPS branched chain are all arranged on the fixed platform;
the movable platform is connected with the upper parts of the 2 UPS branched chains through the V-shaped frame, the lower parts of the 2 UPS branched chains are arranged on the fixed platform, and meanwhile, the movable platform is connected with the fixed platform through the constraint branched chain;
the ankle joint rigidity detection device is connected with the ankle of a human body in a compact connection mode, and a force/moment sensor is installed at a man-machine connection interface to realize force/moment measurement of the ankle joint of the human body;
the movable platform mainly comprises a supporting plate, an intermediate plate, a pedal plate, a torque sensor, a tension and pressure sensor, a stepped shaft and a torque transmission shaft;
the middle plate is arranged above the supporting plate, the middle part of the supporting plate is provided with a stepped shaft, a stepped through hole is formed in the stepped shaft, and the torque sensor is arranged in the stepped through hole;
the torque shaft is arranged on the middle plate, and the lower end of the torque transmission shaft is connected with the torque sensor through a torque transmission spoke plate;
four pull pressure sensors are uniformly arranged on the upper part of the middle plate, the pedal plate is arranged on the four pull pressure sensors and is parallel to the middle plate, four through holes are formed in the corresponding positions of the pedal plate, and the pedal plate and the pull pressure sensors are fixed together in a threaded connection mode;
the constraint branched chain comprises a U-shaped rod, a C-shaped rod and an L-shaped rod, wherein two sides of the C-shaped rod are in rotating fit with the U-shaped rod along the horizontal direction and are second rotating joints, the matching axis is an X axis, and the C-shaped rod can rotate around the X axis;
the dorsiflexion/toe flexion sensor is arranged on the right side plate of the U-shaped rod and is used for measuring the rotation angle of the C-shaped rod relative to the U-shaped rod around the X axis;
the lower part of the L-shaped rod is fixed with the support plate, the upper part of the L-shaped rod is rotationally matched with the middle part of the C-shaped rod and is a third rotary joint, the matching axis is a Y axis, the Y axis is vertical to and intersected with the X axis, and the L-shaped rod can rotate around the Y axis;
the varus/valgus sensor is arranged on the outer side of the middle part of the C-shaped rod and is used for measuring the rotation angle of the L-shaped rod relative to the C-shaped rod around the Y axis;
the U-shaped rod of the restraint branched chain is arranged on the fixed platform, is in rotating fit with the fixed platform along the vertical direction and is a first rotating joint, the matching axis is a Z axis, the Z axis is vertical to the X axis, and the restraint branched chain can integrally rotate around the Z axis after passing through the intersection point of the X axis and the Y axis;
the adduction/abduction sensor is arranged on the inner side of the middle part of the U-shaped rod and is used for measuring the rotation angle of the U-shaped rod relative to the fixed platform around the Z axis;
the UPS branched chain comprises a hooke pair, a moving pair and a ball pair, wherein the hooke pair is arranged at the lower part of the moving pair, and the ball pair is arranged at the upper part of the moving pair;
the Hooke pair has 2 rotational degrees of freedom, one end of the Hooke pair is fixed on the fixed platform, and the other end of the Hooke pair is connected with the bottom end of the moving pair;
the sliding pair consists of a supporting cylinder, a lead screw, a flat key and a manual nut, wherein the manual nut is arranged on the upper part of the supporting cylinder and is in running fit with the supporting cylinder;
the ball pair consists of a Hooke hinge and a rotary joint, has 3 rotational degrees of freedom, and the rotary joint is arranged on bosses at two sides of the V-shaped frame.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710350411.7A CN107174206B (en) | 2017-05-18 | 2017-05-18 | Human ankle joint rigidity detection device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710350411.7A CN107174206B (en) | 2017-05-18 | 2017-05-18 | Human ankle joint rigidity detection device |
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| CN107174206A CN107174206A (en) | 2017-09-19 |
| CN107174206B true CN107174206B (en) | 2020-01-24 |
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Families Citing this family (13)
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| CN107803820B (en) * | 2017-10-16 | 2020-09-22 | 清华大学 | Three-degree-of-freedom parallel mechanism ankle joint rehabilitation device |
| CN109893145A (en) * | 2017-12-08 | 2019-06-18 | 深圳市第二人民医院 | The torsion-testing apparatus of rat shoulder joint |
| 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 |
| CN108542703B (en) * | 2018-03-05 | 2021-04-30 | 北京工业大学 | Ankle joint rehabilitation device |
| CN109223440A (en) * | 2018-09-11 | 2019-01-18 | 佳木斯大学 | A kind of parallel institution ankle device for rehabilitation |
| CN110840707A (en) * | 2019-12-13 | 2020-02-28 | 福州大学 | Ankle joint rehabilitation robot structure and using method thereof |
| CN111513982B (en) * | 2020-04-17 | 2021-07-30 | 燕山大学 | Parallel ankle rehabilitation robot |
| CN113749612B (en) * | 2020-06-02 | 2024-03-26 | 北京清华长庚医院 | Ankle joint evaluation device, apparatus, system, method, and storage medium |
| CN113749647A (en) * | 2020-06-02 | 2021-12-07 | 北京清华长庚医院 | Ankle joint evaluation device, ankle joint evaluation apparatus, ankle joint evaluation system, ankle joint evaluation method, and storage medium |
| CN111759679B (en) * | 2020-08-06 | 2022-03-29 | 马鞍山学院 | Multi-degree-of-freedom robot for knee joint rehabilitation training |
| CN113558928B (en) * | 2021-06-21 | 2023-12-22 | 浙江工业大学 | Ankle joint motion rehabilitation robot |
| CN113576723B (en) * | 2021-07-28 | 2022-05-20 | 华中科技大学 | Experiment platform and measurement system for measuring elbow joint flexion and extension rigidity |
| CN113639944B (en) * | 2021-09-01 | 2022-10-28 | 北京理工大学 | Rigidity measurement system and method for rigid-flexible coupling body |
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| CN107174206A (en) | 2017-09-19 |
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