CN107496065A - Adjustment type drop foot rehabilitation KAFO - Google Patents

Adjustment type drop foot rehabilitation KAFO Download PDF

Info

Publication number
CN107496065A
CN107496065A CN201710858885.2A CN201710858885A CN107496065A CN 107496065 A CN107496065 A CN 107496065A CN 201710858885 A CN201710858885 A CN 201710858885A CN 107496065 A CN107496065 A CN 107496065A
Authority
CN
China
Prior art keywords
foot
leg
fixation kit
footrest
support bar
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201710858885.2A
Other languages
Chinese (zh)
Other versions
CN107496065B (en
Inventor
李剑
樊瑜波
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
National Research Center for Rehabilitation Technical Aids
Original Assignee
National Research Center for Rehabilitation Technical Aids
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by National Research Center for Rehabilitation Technical Aids filed Critical National Research Center for Rehabilitation Technical Aids
Priority to CN201710858885.2A priority Critical patent/CN107496065B/en
Publication of CN107496065A publication Critical patent/CN107496065A/en
Application granted granted Critical
Publication of CN107496065B publication Critical patent/CN107496065B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F5/0104—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations without articulation
    • A61F5/0111—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations without articulation for the feet or ankles
    • A61F5/0113—Drop-foot appliances
    • 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
    • A61B5/112—Gait analysis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6802—Sensor mounted on worn items
    • A61B5/6804—Garments; Clothes
    • A61B5/6807—Footwear
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/12—Feet
    • 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
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/62—Posture
    • A61H2230/625—Posture used as a control parameter for the apparatus

Abstract

The present invention discloses a kind of adjustment type drop foot rehabilitation KAFO, including foot fixation kit, leg fixation kit, control unit, for controlling foot fixation kit to be rotated relative to leg fixation kit by draw-off mechanism so that foot fixation kit opposed legs fixation kit is located at one kind in original state, dorsi-flexed state, toe state in the wrong.Foot fixation kit includes footrest, leg fixation kit includes leg support bar, footrest is connected with leg support bar by elastic component, the two can be rotated in opposite directions by the effect of elastic force, the bottom that foot fixation kit corresponds to front foot position sets rope sheave, footrest rear end sets pulley, rope part one end is fixed on the fixation kit of leg, the other end is connected by pulley with rope sheave, the power end of motor is connected with rope sheave, drive rope sheave to rotate by motor, can adjust the relative position of footrest and leg support bar.The present invention can automatically adjust foot and changed between the back of the body is bent and toe bends state according to the walking states of people.

Description

Adjustment type drop foot rehabilitation KAFO
Technical field
The present invention relates to a kind of drop foot device for healing and training, is rectified more particularly to a kind of adjustment type drop foot rehabilitation Shape device.
Background technology
Drop foot is one of Orthopeadic Surgery sign, refers to foot and dangles naturally, in plantar flexion state, it is impossible to active dorsiflex with It is inside and outside to turn over.Drop foot rehabilitation KAFO be treat drop foot a kind of effective means and accessory, its fixation and work by auxiliary Foot is showed back of the body song with shank, so as to constantly stimulate, promote the rehabilitation of corresponding disease.
At present, drop foot KAFO is broadly divided into following three kinds：
The first is traditional footrest, and its entirety is made up of resin and plastic or Carbon fibe, can make foot and shank all the time Orthogonal position is maintained close to, in use, only needing orthosis into footwear.This footrest is simple in construction, can Use when walking, practicality is stronger, but because foot and shank angle are fixed, people walk rehabilitation when, can not carry out further The foot back of the body it is bent.Deformation of the part footrest in the junction of foot and shank by material and shape, can realize certain amplitude The back of the body it is bent, but because deformation size is limited so carry on the back bent limited angle, and there is individual difference in patient, be unable to reach satisfied health Multiple junction fruit.
Second is elastic stretching band, as the patent application of Application No. 201080006062.3 discloses a kind of ankle-joint Bandage, it passes through elastic fabric, passive drawing foot, to be at dorsi-flexed state.This tension belt is simple in construction, is easy to take Band, it can penetrate in footwear and aid in patient's walking, but because foot and shank are all the time in drawing stress, it is very tired during toe song Difficulty, it is totally unfavorable for long-time Walking.
The third is rehabilitation KAFO, and it passes through complicated structure, it is possible to achieve the bent or corresponding rehabilitation of the back of the body of foot is instructed Practice.According to different use states, rehabilitation KAFO is divided into muscle-setting exercise type and two kinds of running type of auxiliary, wherein, muscle-setting exercise Type rehabilitation KAFO refers to that people carries out the device for healing and training of drop foot rehabilitation training, such as Application No. under static state 201210505294.4th, the device for healing and training disclosed in 201310014261.4,201310421566.7 patent application, this Class device is applied to hospital or rehabilitation institution, and clinical rehabilitation treatment is carried out to individual with drop foot, and general sitting posture uses, volume compared with Greatly, control more complicated；It is to make individual with drop foot in machine dermoskeleton using anthropomorphic robot technology to aid in running type rehabilitation KAFO The device for healing and training that the foot back of the body is bent and toe is bent is carried out under the drive of bone, such as Application No. 201210564248.1, Device for healing and training disclosed in 201310026925.9,201410251985.5 patent application, this device can realize with The similar movement locus of human body, but price is costly.
In summary, the rehabilitation training and auxiliary walking that existing several KAFOs can be to individual with drop foot at present are played Certain effect, but have the following disadvantages：On the one hand, foot state can not be automatically adjusted according to the walking states of people；It is another Aspect, sole is designed to an entirety, does not consider that human foot is made up of forward and backward foot, and multiple fortune between forward and backward foot be present The dynamic free degree, individual with drop foot often with front foot and uneven metapedes axis the problems such as, so in drawing, walking, rehabilitation training During, the foot state of normal person can not be ensured, be unfavorable for the treatment of relevant disease.
The content of the invention
In view of the foregoing, can root it is an object of the invention to provide a kind of adjustment type drop foot rehabilitation KAFO According to the walking states of people, automatically adjust foot and changed between dorsi-flexed state and toe bend state, simple in construction, wearing is flexible, can be Individual with drop foot provides walking power-assisted, plays recovering aid effect.
To achieve the above object, the present invention uses following technical scheme：
A kind of adjustment type drop foot rehabilitation KAFO, including：
For fixing the foot fixation kit of foot,
For fixing the leg fixation kit of calf,
Control unit, for controlling foot fixation kit to be rotated relative to leg fixation kit by a draw-off mechanism, make Obtain a kind of state that foot fixation kit opposed legs fixation kit is located in original state, dorsi-flexed state, toe state in the wrong.
Described control unit includes main control chip, front foot pressure sensor, metapedes pressure sensor, motor, front foot Pressure sensor corresponds to the position of front foot on the foot fixation kit, and metapedes pressure sensor is fixed located at the foot The position of metapedes is corresponded on component, motor is connected with the movable end of the draw-off mechanism, front foot pressure sensor, metapedes The signal output part of pressure sensor is connected with the data input pin of main control chip, the control signal output of main control chip with The control terminal of motor is connected, can be respectively according to the size of front foot pressure signal, metapedes pressure signal, respectively control driving Motor is inverted, rotated forward, and is controlled and is reached different angular positions between footrest and leg support bar so that foot is located at respectively Different toes bends angle, dorsiflex angle.
Described control unit also includes angular transducer, and the angular transducer is arranged at the foot fixation kit and leg The rotation connection position of fixation kit, the signal output part of the angular transducer are connected with the data input pin of the main control chip Connect, the angular transducer, which is used to sense, carries on the back bent angle, toe angle in the wrong.
The foot fixation kit includes footrest, and the leg fixation kit includes leg support bar, the footrest and leg Support bar is connected by elastic component, in the case of by external force, is not being acted on by elastic-restoring force, footrest and leg support bar It can in opposite directions rotate, in inactive state, foot can be brought up to human normal position, prevent drop foot.
The draw-off mechanism includes rope sheave, pulley, rope part, and the rope sheave corresponds to front foot position located at the foot fixation kit Bottom, pulley is located at the footrest rear end, and the rope part one end is fixed on the leg fixation kit, and the other end passes through the cunning Wheel is connected with rope sheave, and the power end of the motor is connected with the rope sheave, drives rope sheave to turn by the motor It is dynamic, it can adjust the relative position of the footrest and leg support bar.
The leg fixation kit includes leg butt, and leg butt is hinged with the leg support bar, and the rope part is consolidated Due on the leg butt.
Sensing shoe-pad is provided with the top of the footrest, the position that toe is corresponded on the sensing shoe-pad sets the front foot pressure to pass Sensor, the position of corresponding heel set the metapedes pressure sensor.
The footrest also includes the front foot fixing band and metapedes fixing band being fixedly connected with the footrest.
The leg fixation kit also includes leg fixing band, leg serves as a contrast, and leg fixing band is fixed with the leg support bar Connection, leg lining are hinged with the leg support bar.
In gait processes, when metapedes contacts with ground, the metapedes pressure sensor senses metapedes pressure signal, Metapedes pressure signal is transmitted to the main control chip, the main control chip driving is controlled according to the metapedes pressure signal Motor rotates forward, and then drives the rope sheave to rotate forward, and the rope part reduces to the pulling force of footrest, and the footrest is in elastic-restoring force Moved under effect to the leg support bar so that foot carries out back of the body Qu Yundong；When front foot contacts with ground, the front foot pressure Force snesor senses front foot pressure signal, and front foot pressure signal is transmitted to the main control chip, the main control chip according to The front foot pressure signal, control the motor to invert, drive the rope sheave to invert, the rope part increases to the pulling force of footrest Add, the footrest overcomes the effect of elastic-restoring force to be moved to the direction away from the leg support bar so that foot carries out toe Bend motion；When foot does not contact with ground, the main control chip is not detected by the front foot pressure sensor and passed with metapedes pressure The pressure signal of sensor, the main control chip control the motor rotation so that the footrest is located at leg support bar Entopic original state.
It is an advantage of the invention that：
1st, drop foot rehabilitation KAFO of the invention,, can by control unit and draw-off mechanism according to the walking states of people Foot is automatically adjusted to change between dorsi-flexed state and toe bend state；
2nd, drop foot rehabilitation KAFO of the invention, back of the body song, the toe that foot is detected by angular transducer are bent angle, ensured Foot movement is within the scope of normal safety；
3rd, drop foot rehabilitation KAFO of the invention, footrest are connected by front foot portion with back foot part by adjustable connecting rod Form, forward and backward sufficient axis can be realized alignment and rotate, related disorder patients can be aided in be rectified by the regulation of connecting rod Positive rehabilitation training；
4th, drop foot rehabilitation KAFO of the invention, draw-off mechanism drive pulling rope come real by the motor of foot bottom It is existing, the effect of human foot heel string can be imitated；
5th, drop foot rehabilitation KAFO of the invention, footrest correspond to forward and backward sufficient position and are respectively provided with fixing band, Ke Yifen It is other that forward and backward foot is fixed, and adjustable tightness；
6th, drop foot rehabilitation KAFO of the invention, leg fixation kit include plastic leg lining and metal support Frame, plastic leg lining can contact for leg provides comfortable interface, and metal bracket can provide stable mechanical support；
7th, drop foot rehabilitation KAFO of the invention, after metal bracket includes medial and lateral support bar and upper and lower part Support, enough support forces can be provided for leg, and leg and KAFO can be improved according to the leg state flexible modulation of patient Followability.
8th, drop foot rehabilitation KAFO of the invention, it is simple in construction, the comparable dimensions with footwear, can flexibly it dress, for foot Sagging patient provides walking power-assisted, and auxiliary carries out foot rehabilitation training.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the KAFO of the present invention.
Fig. 2 is the KAFO of the present invention in the overall structure diagram at another visual angle, the draw-off mechanism of display footrest bottom.
Fig. 3 is the schematic diagram that the KAFO of the present invention adjusts between original state and dorsi-flexed state.
Fig. 4 is the floor map of the sensing shoe-pad of the present invention.
Fig. 5 is the top view that the front foot portion of the present invention is connected with back foot part.
Fig. 6 is the structured flowchart of the control unit of the present invention.
Fig. 7 is can not to carry on the back the foot of song and pull the foot to be returned to entopic schematic diagram.
Fig. 8 is the schematic diagram of human body travel condition.
Embodiment
Below in conjunction with drawings and examples, the present invention will be further described in detail.
As shown in figures 1 to 6, adjustment type drop foot rehabilitation KAFO disclosed by the invention, including foot fixation kit, Leg fixation kit, draw-off mechanism, control unit.
As shown in Fig. 1,2,5, foot fixation kit includes footrest 1, and the position that human body front foot is corresponded in footrest 1 is provided with front foot Fixing band 15, the position of corresponding human body metapedes are provided with metapedes fixing band 16.Footrest 1 includes front foot portion 11 and back foot part 12, front foot Portion 11 and the position correspondence of human body front foot, the position correspondence of back foot part 12 and human body metapedes, front foot portion 11 pass through with back foot part 12 Adjustable connecting rod is connected, and specifically, front foot portion 11 is connected with the outside of back foot part 12 by outer lateral connector bar 13, preceding Foot 11 is connected with the inner side of back foot part 12 by interior lateral connector bar 14, and the length of outer lateral connector bar 13 and interior lateral connector bar 14 It is adjustable, by adjusting the length (while regulation or adjust one of them) of two connecting rods, it is right that forward and backward sufficient axial direction can be adjusted Line and rotational angle, are dressed in order to adapt to different patients, and correction rehabilitation training is carried out to related foot affliction.
As shown in Fig. 1,4, the top of footrest 1 (part of human foot contact) is provided with sensing shoe-pad 2, and it is right on shoe-pad 2 to sense The position of human body toe is answered to be provided with front foot pressure sensor 21, the position that human body heel is corresponded on sensing shoe-pad 2 is provided with metapedes pressure Force snesor 22.
Leg fixation kit include leg support bar 3 (including lateral branch strut, medial support bar), top butt 41, under Portion's butt 42, leg fixing band 5 (including top, bottom fixing band), plastic leg lining 6.The lower end of leg support bar 3 and foot Support 1 is connected close to the position of heel by elastic component (e.g., torsion spring), in the presence of without external force, leg support bar 3 and footrest 1 Between in the presence of elastic-restoring force, can rotate in opposite directions and close to each other.Top butt 41, bottom butt 42, the difference of leg lining 6 It is connected through the hinge with leg support bar 3, leg fixing band 5 is fixedly connected by screw with leg support bar 3.
Draw-off mechanism 7 includes rope sheave 71, pulley 72, tightrope 73, motor 74, and rope sheave 71 and motor 74 are fixed on For the bottom of footrest 1 close to the position of human body front foot, pulley 72 is fixed on the rear end of footrest 1, power end and the rope sheave 71 of motor 74 It is connected, bottom butt 42 is fixed in the one end of tightrope 73, and the other end is connected on rope sheave 71 by pulley 72.
Control unit includes main control chip, angular transducer, front foot pressure sensor 21, metapedes pressure sensor 22, leg Portion's support bar 3 and the link position of footrest 1 set angular transducer 8, angular transducer 8, front foot pressure sensor 21, metapedes pressure The signal output part of force snesor 22 is connected with the data input pin of main control chip respectively, the control signal output of main control chip End is connected with the control terminal of motor 74.
The operation principle of adjustment type drop foot rehabilitation KAFO of the present invention is：
With reference to Fig. 7, bent individual with drop foot can not be carried on the back for foot, after the KAFO for dressing the present invention, footrest 1 and leg Acted between support bar 3 by elastic-restoring force, foot is brought up to normal position (original state), it is reachable further up To dorsi-flexed state.
With reference to Fig. 8, by taking right foot as an example.When metapedes contacts with ground, metapedes pressure sensor senses metapedes pressure letter Number, metapedes pressure signal is transmitted to main control chip, main control chip is according to the metapedes pressure signal, and control motor 74 is just Turn, motor 74 rotates forward, and drives rope sheave 71 to rotate forward, and tightrope 73 reduces to the pulling force of footrest 1, and footrest 1 is in elastic-restoring force Moved under effect to leg support bar 3 so that foot carries out back of the body Qu Yundong.In the rotation process of the opposed legs support bar 3 of footrest 1 In, angular transducer 8 detects the back of the body song angle signal between footrest 1 and leg support bar 3, will carry on the back bent angle signal and transmits to master Chip is controlled, main control chip will be carried on the back bent angle signal compared with the default bent angle threshold of the back of the body, be reached when carrying on the back bent angle signal During the bent angle threshold of the default back of the body, main control chip control motor 74 stops rotating forward so that footrest 1 and leg support bar 3 are not It is opposite again to rotate, prevent from carrying on the back the normal range value that bent angle exceedes human body.
When front foot contacts with ground, front foot pressure sensor senses front foot pressure signal, and front foot pressure signal is transmitted To main control chip, main control chip inverts according to the front foot pressure signal, control motor 74, and motor 74 inverts, and drives Rope sheave 71 inverts, and pulling force increase of the tightrope 73 to footrest 1, footrest 1 overcomes the effect of elastic-restoring force to away from leg support bar 3 Direction movement so that foot carry out toe bend motion.In the rotation process of the opposed legs support bar 3 of footrest 1, angular transducer Toe between 8 detection footrests 1 and leg support bar 3 bends angle signal, and toe is bent into angle signal and transmitted to main control chip, master control core Toe is bent angle signal compared with default toe angle threshold in the wrong by piece, and bending angle signal when toe reaches default toe angle in the wrong During threshold value, the main control chip control stop reverse of motor 74 so that footrest 1 and the no longer opposite rotation of leg support bar 3, prevent Toe bends the normal range value that angle exceedes human body.
When foot does not contact with ground, main control chip is not detected by the pressure of front foot pressure sensor and metapedes pressure sensor Force signal, main control chip control motor 74 rotate so that footrest is located at entopic initial shape with leg support bar 3 State.
Further, main control chip can pass through control respectively respectively according to the size of front foot pressure signal, metapedes pressure signal The reversion of motor 74 processed, rotate forward, control and reach different angular positions between footrest and leg support bar 3, i.e. so that foot Angle, dorsiflex angle are bent positioned at different toes in portion respectively.
The technical principle described above for being presently preferred embodiments of the present invention and its being used, for those skilled in the art For, without departing from the spirit and scope of the present invention, any equivalent change based on the basis of technical solution of the present invention Change, the simply obvious change such as replacement, belong within the scope of the present invention.

Claims (10)

1. adjustment type drop foot rehabilitation KAFO, it is characterised in that including：
For fixing the foot fixation kit of foot,
For fixing the leg fixation kit of calf,
Control unit, for controlling foot fixation kit to be rotated relative to leg fixation kit by a draw-off mechanism so that foot Portion's fixation kit opposed legs fixation kit is located at a kind of state in original state, dorsi-flexed state, toe state in the wrong.
2. adjustment type drop foot rehabilitation KAFO according to claim 1, it is characterised in that described control unit bag Main control chip, front foot pressure sensor, metapedes pressure sensor, motor are included, front foot pressure sensor is located at the foot The position of front foot is corresponded on fixation kit, metapedes pressure sensor corresponds to the position of metapedes on the foot fixation kit, Motor is connected with the movable end of the draw-off mechanism, front foot pressure sensor, the signal output of metapedes pressure sensor End is connected with the data input pin of main control chip, and the control signal output of main control chip is connected with the control terminal of motor Connect, respectively motor can be controlled to be inverted, rotated forward respectively according to the size of front foot pressure signal, metapedes pressure signal, controlled Reach different angular positions between footrest processed and leg support bar so that foot bends angle, dorsiflex positioned at different toes respectively Angle.
3. adjustment type drop foot rehabilitation KAFO according to claim 2, it is characterised in that described control unit is also Including angular transducer, the angular transducer is arranged at the rotation connection position of the foot fixation kit and leg fixation kit Put, the signal output part of the angular transducer is connected with the data input pin of the main control chip, and the angular transducer is used for Sensing carries on the back bent angle, toe bends angle.
4. adjustment type drop foot rehabilitation KAFO according to claim 3, it is characterised in that the foot fixation group Part includes footrest, and the leg fixation kit includes leg support bar, and the footrest is connected with leg support bar by elastic component, In the case of by external force, not acted on by elastic-restoring force, footrest can rotate in opposite directions with leg support bar, in inactive state, Foot can be brought up to human normal position, prevent drop foot.
5. adjustment type drop foot rehabilitation KAFO according to claim 4, it is characterised in that the draw-off mechanism bag Rope sheave, pulley, rope part are included, the rope sheave corresponds to the bottom of front foot position located at the foot fixation kit, and pulley is located at the foot Rear end is held in the palm, the rope part one end is fixed on the leg fixation kit, and the other end is connected by the pulley with rope sheave, the drive The power end of dynamic motor is connected with the rope sheave, drives rope sheave to rotate by the motor, can adjust the footrest and leg The relative position of portion's support bar.
6. adjustment type drop foot rehabilitation KAFO according to claim 1, it is characterised in that the leg fixation group Part includes leg butt, and leg butt is hinged with the leg support bar, and the rope part is fixed on the leg butt.
7. adjustment type drop foot rehabilitation KAFO according to claim 4, it is characterised in that set at the top of the footrest There is sensing shoe-pad, the position that toe is corresponded on the sensing shoe-pad sets the front foot pressure sensor, and the position of corresponding heel is set Put the metapedes pressure sensor.
8. adjustment type drop foot rehabilitation KAFO according to claim 4, it is characterised in that the footrest also includes The front foot fixing band being fixedly connected with the footrest and metapedes fixing band.
9. adjustment type drop foot rehabilitation KAFO according to claim 6, it is characterised in that the leg fixation group Part also includes leg fixing band, leg serves as a contrast, and leg fixing band is fixedly connected with the leg support bar, leg lining and the thigh support Bar is hinged.
10. adjustment type drop foot rehabilitation KAFO according to claim 5, it is characterised in that in gait processes, When metapedes contacts with ground, the metapedes pressure sensor senses metapedes pressure signal, by metapedes pressure signal transmit to The main control chip, the main control chip control the motor to rotate forward according to the metapedes pressure signal, and then described in driving Rope sheave rotates forward, and the rope part reduces to the pulling force of footrest, and the footrest is in the presence of elastic-restoring force to the thigh support Bar moves so that foot carries out back of the body Qu Yundong；When front foot contacts with ground, the front foot pressure sensor senses front foot pressure Force signal, front foot pressure signal is transmitted to the main control chip, the main control chip institute is controlled according to the front foot pressure signal Motor reversion is stated, drives the rope sheave to invert, pulling force increase of the rope part to footrest, the footrest overcomes elastic recovery The effect of power is moved to the direction away from the leg support bar so that foot carries out toe and bends motion；When foot does not connect with ground Touch, the main control chip is not detected by the pressure signal of the front foot pressure sensor and metapedes pressure sensor, the master control Motor described in chip controls rotates so that the footrest is located at entopic original state with leg support bar.
CN201710858885.2A 2017-09-20 2017-09-20 Adjustment type drop foot rehabilitation orthoses Active CN107496065B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710858885.2A CN107496065B (en) 2017-09-20 2017-09-20 Adjustment type drop foot rehabilitation orthoses

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710858885.2A CN107496065B (en) 2017-09-20 2017-09-20 Adjustment type drop foot rehabilitation orthoses

Publications (2)

Publication Number Publication Date
CN107496065A true CN107496065A (en) 2017-12-22
CN107496065B CN107496065B (en) 2019-08-16

Family

ID=60698497

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710858885.2A Active CN107496065B (en) 2017-09-20 2017-09-20 Adjustment type drop foot rehabilitation orthoses

Country Status (1)

Country Link
CN (1) CN107496065B (en)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108524068A (en) * 2018-05-29 2018-09-14 湖南科技大学 A kind of shank tendon rehabilitation equipment and operating method
CN109394403A (en) * 2018-12-06 2019-03-01 川北医学院 Drop foot rehabilitation orthoses
CN109966118A (en) * 2019-03-25 2019-07-05 复旦大学 Frame-type ankle foot walking aids
CN110301999A (en) * 2019-07-23 2019-10-08 杭州众康假肢矫形器有限公司 A kind of ankle-foot orthosis
CN110314026A (en) * 2019-08-06 2019-10-11 解二康 Elastic assist function orthoses before ankle after a kind of knee
CN110339547A (en) * 2019-07-01 2019-10-18 军事科学院军事医学研究院环境医学与作业医学研究所 A kind of foot assistance exoskeleton device
CN110547900A (en) * 2018-05-30 2019-12-10 奥微医学科技股份有限公司 Active arthritis correction assistive device and operation method thereof
CN111165997A (en) * 2020-01-11 2020-05-19 广东足迹鞋业有限公司 Dynamic and static integrated foot-supporting shoe
KR20220125671A (en) * 2021-03-04 2022-09-14 아도방휫토 가부시키가이샤 Paw correction tool
WO2023066272A1 (en) * 2021-04-20 2023-04-27 安杰莱科技(杭州)有限公司 Mechanical foot

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB121322A (en) * 1917-12-07 1918-12-09 Edward Samuel Whitehorn Surgical Appliance for Dropped Foot.
CN101548925A (en) * 2009-05-05 2009-10-07 浙江大学 Gait phase detection apparatus with ankle joint angle self-rectification function
CN202288736U (en) * 2011-10-19 2012-07-04 汕头大学医学院第一附属医院 Rehabilitation training device for preventing foot drop
US20160135978A1 (en) * 2014-11-14 2016-05-19 Rehabilitation Institute Of Chicago Ankle Foot Tensioned Orthosis

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB121322A (en) * 1917-12-07 1918-12-09 Edward Samuel Whitehorn Surgical Appliance for Dropped Foot.
CN101548925A (en) * 2009-05-05 2009-10-07 浙江大学 Gait phase detection apparatus with ankle joint angle self-rectification function
CN202288736U (en) * 2011-10-19 2012-07-04 汕头大学医学院第一附属医院 Rehabilitation training device for preventing foot drop
US20160135978A1 (en) * 2014-11-14 2016-05-19 Rehabilitation Institute Of Chicago Ankle Foot Tensioned Orthosis

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108524068A (en) * 2018-05-29 2018-09-14 湖南科技大学 A kind of shank tendon rehabilitation equipment and operating method
CN110547900A (en) * 2018-05-30 2019-12-10 奥微医学科技股份有限公司 Active arthritis correction assistive device and operation method thereof
CN109394403A (en) * 2018-12-06 2019-03-01 川北医学院 Drop foot rehabilitation orthoses
CN109966118A (en) * 2019-03-25 2019-07-05 复旦大学 Frame-type ankle foot walking aids
CN110339547A (en) * 2019-07-01 2019-10-18 军事科学院军事医学研究院环境医学与作业医学研究所 A kind of foot assistance exoskeleton device
CN110301999A (en) * 2019-07-23 2019-10-08 杭州众康假肢矫形器有限公司 A kind of ankle-foot orthosis
CN110301999B (en) * 2019-07-23 2021-11-09 杭州众康假肢矫形器有限公司 Ankle-foot orthosis
CN110314026A (en) * 2019-08-06 2019-10-11 解二康 Elastic assist function orthoses before ankle after a kind of knee
CN111165997A (en) * 2020-01-11 2020-05-19 广东足迹鞋业有限公司 Dynamic and static integrated foot-supporting shoe
CN111165997B (en) * 2020-01-11 2023-03-10 广东足迹鞋业有限公司 Dynamic and static integrated foot-supporting shoe
KR20220125671A (en) * 2021-03-04 2022-09-14 아도방휫토 가부시키가이샤 Paw correction tool
KR102637140B1 (en) * 2021-03-04 2024-02-16 아도방휫토 가부시키가이샤 Tools for lower foot correction
WO2023066272A1 (en) * 2021-04-20 2023-04-27 安杰莱科技(杭州)有限公司 Mechanical foot

Also Published As

Publication number Publication date
CN107496065B (en) 2019-08-16

Similar Documents

Publication Publication Date Title
CN107496065B (en) Adjustment type drop foot rehabilitation orthoses
CN107411939B (en) A kind of dedicated power-assisted healing robot of single lower limb individuals with disabilities
US11324653B2 (en) Exoskeleton for assisting human movement
TW201639533A (en) Interactive exoskeleton robotic knee system
Bae et al. A soft exosuit for patients with stroke: Feasibility study with a mobile off-board actuation unit
CN107485476B (en) Foot axis trimming type drop foot rehabilitation orthoses
US6666798B2 (en) Therapeutic and rehabilitation apparatus
US8608479B2 (en) Systems and methods for facilitating gait training
CN101589983B (en) Wearable lower limb exoskeleton device
CN105963106B (en) The knee joint mechanism of decompressor
CN107811819A (en) A kind of wearable lower limb rehabilitation robot
CN115089444A (en) Method of promoting gait improvement
CN209203951U (en) Guiding mechanism, lower limb rehabilitation ectoskeleton and exoskeleton robot
Lagoda et al. Human-robot interfaces in exoskeletons for gait training after stroke: State of the art and challenges
CN109124988B (en) Guiding mechanism, lower limb rehabilitation exoskeleton and exoskeleton robot
CN109288650A (en) The independent used movable lower limb training of wearer and auxiliary intelligent apparatus
JP2022537779A (en) Ankle assist exoskeleton device
KR101797967B1 (en) Walking Assistance Apparatus for Lower Limb
CN113230094A (en) Single-leg exoskeleton robot and control method thereof
JP6315031B2 (en) Exercise support device and exercise support method
KR102207991B1 (en) Flexible Sheet Type Muscular Strength Assisting Suit
CN114404229B (en) Flexible wearable object actuator for lower limb rehabilitation
CN114733145B (en) Intelligent multifunctional lower limb rehabilitation training integrated machine
JP2013070786A (en) Walking aid device
CN110302000A (en) It is a kind of for intervening the dynamic orthotic appliance and method of children's hip anormogenesis

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant