CN107496065B - Adjustment type drop foot rehabilitation orthoses - Google Patents
Adjustment type drop foot rehabilitation orthoses Download PDFInfo
- Publication number
- CN107496065B CN107496065B CN201710858885.2A CN201710858885A CN107496065B CN 107496065 B CN107496065 B CN 107496065B CN 201710858885 A CN201710858885 A CN 201710858885A CN 107496065 B CN107496065 B CN 107496065B
- 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.)
- Active
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 orthoses, including foot fixation kit, leg fixation kit, control unit, it is rotated for controlling foot fixation kit by draw-off mechanism relative to leg fixation kit, so that foot fixation kit opposed legs fixation kit is located at original state, dorsi-flexed state, toe and bends one of state.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 towards each other by the effect of elastic force, foot fixation kit corresponds to the bottom setting rope sheave of front foot position, pulley is arranged in footrest rear end, 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 driving motor is connected with rope sheave, rope sheave rotation is driven by driving motor, can adjust the relative position of footrest and leg support bar.The present invention can automatically adjust foot and convert between back is bent and toe bends state according to the walking states of people.
Description
Technical field
The present invention relates to a kind of drop foot device for healing and training, rectify more particularly to a kind of adjustment type drop foot rehabilitation
Shape device.
Background technique
Drop foot is one of Orthopeadic Surgery sign, refers to foot and dangles naturally, be in plantar flexion state, cannot active dorsiflex with
It is inside and outside to turn over.Drop foot rehabilitation orthoses is to treat a kind of effective means and accessory of drop foot, fixation and work by auxiliary
So that foot and shank is showed back song, to constantly stimulate, promotes the rehabilitation of corresponding disease.
Currently, drop foot orthoses is broadly divided into following three kinds:
The first is traditional footrest, and entirety is made of resin and plastic or Carbon fibe, can make foot and shank always
It is maintained close to orthogonal position, in use, only needing orthosis into shoes.This footrest structure is simple, can
Use when walking, practicability is stronger, but since foot and shank angle are fixed, people walk rehabilitation when, can not carry out further
Foot carry on the back it is bent.Part footrest, by the deformation of material and shape, can be realized certain amplitude in the junction of foot and shank
Back it is bent, but because deformation size is limited so carry on the back bent limited angle, and there are individual differences by patient, are unable to reach satisfied health
Multiple junction fruit.
Second is elastic stretching band, and such as application No. is 201080006062.3 patent applications to disclose a kind of ankle-joint
Bandage passes through elastic fabric, passive drawing foot, to be at dorsi-flexed state.This stretching band structure is simple, convenient for taking
Band can penetrate in shoes and assist patient's walking, but since foot and shank are in drawing stress always, and when toe song is very tired
Difficulty, it is totally unfavorable for long-time Walking.
The third is rehabilitation orthoses, and by complicated structure, the back song or the instruction of rehabilitation accordingly of foot may be implemented
Practice.According to different use states, rehabilitation orthoses is divided into two kinds of running type of muscle-setting exercise type and auxiliary, wherein muscle-setting exercise
Type rehabilitation orthoses refers to that people carries out the device for healing and training of drop foot rehabilitation training under static state, such as application No. is
201210505294.4, device for healing and training disclosed in 201310014261.4,201310421566.7 patent application, this
Class device is suitable for hospital or rehabilitation institution, carries out clinical rehabilitation treatment to individual with drop foot, and general sitting posture uses, volume compared with
Greatly, it controls more complex；Assisting running type rehabilitation orthoses is to make individual with drop foot in machine dermoskeleton using anthropomorphic robot technology
The device for healing and training that foot back is bent and toe is bent is carried out under the drive of bone, such as application No. is 201210564248.1,
Device for healing and training disclosed in 201310026925.9,201410251985.5 patent application, this device can realize with
The similar motion profile of human body, but price is costly.
In conclusion at present existing several orthoses can rehabilitation training to individual with drop foot and auxiliary walking play
Certain effect, but have the disadvantage in that on the one hand, foot state can not be automatically adjusted according to the walking states of people；It is another
Sole is designed to an entirety, does not consider that human foot is made of forward and backward foot, and there are multiple fortune between forward and backward foot by aspect
Dynamic freedom degree, individual with drop foot often with front foot and uneven metapedes axis the problems such as, in this way in drawing, walking, rehabilitation training
During, it not can guarantee the foot state of normal person, be unfavorable for the treatment of related disease.
Summary of the invention
It in view of the foregoing, can root the purpose of the present invention is to provide a kind of adjustment type drop foot rehabilitation orthoses
According to the walking states of people, automatically adjusts foot and converted between dorsi-flexed state and toe bend state, structure is simple, and wearing flexibly, can be
Individual with drop foot provides walking power-assisted, plays the role of recovering aid.
To achieve the above object, the invention adopts the following technical scheme:
A kind of adjustment type drop foot rehabilitation orthoses, comprising:
For fixing the foot fixation kit of foot,
For fixing the leg fixation kit of calf,
Control unit rotates relative to leg fixation kit for controlling foot fixation kit by a draw-off mechanism, makes
It obtains foot fixation kit opposed legs fixation kit and is located at one of original state, dorsi-flexed state, toe state in the wrong state.
Described control unit includes main control chip, front foot pressure sensor, metapedes pressure sensor, driving motor, front foot
Pressure sensor is set on the foot fixation kit position for corresponding to front foot, and metapedes pressure sensor is set to the foot and fixes
The position of metapedes is corresponded on component, driving motor is connected with the movable end of the draw-off mechanism, front foot pressure sensor, metapedes
The signal output end 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 driving motor is connected, can be respectively according to the size of front foot pressure signal, metapedes pressure signal, respectively control driving
Motor is inverted, is rotated forward, and is controlled and is reached different angular positions between footrest and leg support bar, so that foot is located at
Different toes bends angle, dorsiflex angle.
Described control unit further includes angular transducer, which is set to the foot fixation kit and leg
The rotation connection position of fixation kit, the signal output end of the angular transducer are connected with the data input pin of the main control chip
It connects, which carries on the back bent angle, toe angle in the wrong for sensing.
The foot fixation kit includes footrest, and the leg fixation kit includes leg support bar, the footrest and leg
Support rod is connected by elastic component, in the case where not by external force, by the effect of elastic-restoring force, and footrest and leg support bar
It can rotate towards each other, in stationary state, foot can be brought up to human normal position, prevent drop foot.
The draw-off mechanism includes rope sheave, pulley, rope part, which is set to the foot fixation kit and corresponds to front foot position
Bottom, pulley is set to the footrest rear end, which 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 driving motor is connected with the rope sheave, drives rope sheave to turn by the driving 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 and the leg support bar are hinged, and the rope part is solid
Due on the leg butt.
Induction insole is equipped at the top of the footrest, the position that toe is corresponded on the induction insole is arranged the front foot pressure and passes
The metapedes pressure sensor is arranged in the position of sensor, corresponding heel.
The footrest further includes the front foot fixing belt and metapedes fixing belt being fixedly connected with the footrest.
The leg fixation kit further includes leg fixing belt, leg lining, and leg fixing belt is fixed with the leg support bar
Connection, leg lining are hinged with the leg support bar.
In gait processes, when metapedes when being contacted with ground, the metapedes pressure sensor senses metapedes pressure signal,
Metapedes pressure signal is transmitted to the main control chip, the main control chip controls the driving according to the metapedes pressure signal
Motor rotates forward, and then the rope sheave is driven to rotate forward, and the rope part reduces the pulling force of footrest, and the footrest is in elastic-restoring force
It is mobile to the leg support bar under effect, so that foot carries out back Qu Yundong；When front foot when being contacted 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 controls the driving motor reversion, the rope sheave is driven to invert, and the rope part increases the pulling force of footrest
Add, the footrest overcomes the effect of elastic-restoring force mobile to the direction far from the leg support bar, so that foot carries out toe
Bend movement；When foot is not contacted with ground, the front foot pressure sensor is not detected in the main control chip and metapedes pressure passes
The pressure signal of sensor, the main control chip controls the driving motor rotation, so that the footrest is located at leg support bar
Entopic original state.
The invention has the advantages that
1, drop foot rehabilitation orthoses of the invention, can by control unit and draw-off mechanism according to the walking states of people
Automatic adjustment foot is converted between dorsi-flexed state and toe bend state；
2, drop foot rehabilitation orthoses of the invention, the back for detecting foot by angular transducer is bent, toe bends angle, guarantees
Foot movement is within the scope of normal safety；
3, drop foot rehabilitation orthoses of the invention, footrest are connect with back foot part by adjustable connecting rod by front foot portion
It forms, forward and backward sufficient axis can realize alignment and rotation, related disorder patients can be assisted to rectify by the adjusting of connecting rod
Positive rehabilitation training；
4, drop foot rehabilitation orthoses of the invention, draw-off mechanism drive pulling rope come real by the driving motor of foot bottom
It is existing, the effect of human foot heel string can be imitated；
5, drop foot rehabilitation orthoses of the invention, footrest correspond to forward and backward sufficient position and are respectively provided with fixing belt, Ke Yifen
It is other that forward and backward foot is fixed, and adjustable tightness；
6, drop foot rehabilitation orthoses 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；
7, drop foot rehabilitation orthoses of the invention, after metal bracket includes medial and lateral support rod and upper and lower part
Support can provide enough support forces for leg, and can improve leg and orthoses according to the leg state flexible modulation of patient
Followability.
8, drop foot rehabilitation orthoses of the invention, structure is simple, and the comparable dimensions with shoes can be dressed flexibly, for foot
Sagging patient provides walking power-assisted, and auxiliary carries out foot rehabilitation training.
Detailed description of the invention
Fig. 1 is the overall structure diagram of orthoses of the invention.
Fig. 2 is orthoses of the invention in the overall structure diagram at another visual angle, shows the draw-off mechanism of footrest bottom.
Fig. 3 is the schematic diagram that orthoses of the invention adjusts between original state and dorsi-flexed state.
Fig. 4 is the floor map of induction insole of the invention.
Fig. 5 is the top view that front foot portion of the invention is connect with back foot part.
Fig. 6 is the structural block diagram of control unit of the invention.
Fig. 7 is cannot to carry on the back bent foot and the foot is pulled to be returned to entopic schematic diagram.
Fig. 8 is the schematic diagram of human body travel condition.
Specific 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 orthoses 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 equipped with front foot
The position of fixing belt 15, corresponding human body metapedes is equipped with metapedes fixing belt 16.Footrest 1 includes front foot portion 11 and back foot part 12, front foot
Portion 11 is corresponding with the position of human body front foot, and back foot part 12 is corresponding with the position of human body metapedes, and front foot portion 11 passes through with back foot part 12
Adjustable connecting rod is connected, and specifically, front foot portion 11 is connect with the outside of back foot part 12 by outer lateral connector bar 13, preceding
Foot 11 is connect with the inside 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
Adjustable, by adjusting the length (while adjusting or adjust one of them) of two connecting rods, adjustable forward and backward sufficient axial direction is right
Line and rotational angle, are dressed in order to adapt to different patients, carry out correction rehabilitation training to related foot affliction.
As shown in Fig. 1,4,1 top of footrest (part of human foot contact) is equipped with induction insole 2, and it is right on insole 2 to incude
It answers the position of human body toe to be equipped with front foot pressure sensor 21, incudes the position for corresponding to human body heel on insole 2 equipped 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 belt 5 (including top, lower part fixing belt), 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., torsional spring), under the action of no external force, leg support bar 3 and footrest 1
Between under the action of elastic-restoring force, can rotate towards each other and close to each other.Top butt 41, lower part butt 42,6 difference of leg lining
It is connected by a hinge with leg support bar 3, leg fixing belt 5 is fixedly connected by screw with leg support bar 3.
Draw-off mechanism 7 includes rope sheave 71, pulley 72, tightrope 73, driving motor 74, and rope sheave 71 and driving motor 74 are fixed on
For 1 bottom of footrest close to the position of human body front foot, pulley 72 is fixed on 1 rear end of footrest, the power end and rope sheave 71 of driving motor 74
It is connected, lower part butt 42 is fixed in 73 one end of tightrope, 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
Angular transducer 8, angular transducer 8, front foot pressure sensor 21, metapedes pressure is arranged in portion's support rod 3 and the link position of footrest 1
The signal output end 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 driving motor 74.
The working principle of adjustment type drop foot rehabilitation orthoses of the invention is:
In conjunction with Fig. 7, bent individual with drop foot, after dressing orthoses of the invention, footrest 1 and leg cannot be carried on the back for foot
By the effect of elastic-restoring force between support rod 3, foot is brought up to normal position (original state), it is reachable further up
To dorsi-flexed state.
In conjunction with Fig. 8, by taking right foot as an example.When metapedes and ground face contact, metapedes pressure sensor senses metapedes pressure letter
Number, metapedes pressure signal is transmitted to main control chip, main control chip is controlling driving motor 74 just according to the metapedes pressure signal
Turn, driving motor 74 rotates forward, and rope sheave 71 is driven to rotate forward, and tightrope 73 reduces the pulling force of footrest 1, and footrest 1 is in elastic-restoring force
It is mobile to leg support bar 3 under effect, so that foot carries out back Qu Yundong.In the rotation process of 1 opposed legs support rod 3 of footrest
In, angular transducer 8 detects the back song angle signal between footrest 1 and leg support bar 3, will carry on the back bent angle signal and is transmitted to master
Chip is controlled, main control chip will be carried on the back bent angle signal and is compared with the bent angle threshold of preset back, reach when carrying on the back bent angle signal
When preset back song angle threshold, main control chip, which controls driving motor 74, to be stopped rotating forward, so that footrest 1 and leg support bar 3 are not
It rotates towards each other again, prevents from carrying on the back the normal range value that bent angle is more than human body.
When front foot and ground face contact, front foot pressure sensor senses front foot pressure signal, front foot pressure signal is transmitted
To main control chip, main control chip controls driving motor 74 and inverts according to the front foot pressure signal, and driving motor 74 inverts, and drives
Rope sheave 71 inverts, and tightrope 73 increases the pulling force of footrest 1, and footrest 1 overcomes the effect of elastic-restoring force to far from leg support bar 3
Direction it is mobile so that foot, which carries out toe, bends movement.In the rotation process of 1 opposed legs support rod 3 of footrest, angular transducer
Toe between 8 detection footrests 1 and leg support bar 3 bends angle signal, and toe is bent angle signal and is transmitted to main control chip, master control core
Toe is bent angle signal and is compared with preset toe angle threshold in the wrong by piece, bends angle signal when toe and reaches preset toe angle in the wrong
When threshold value, main control chip controls driving motor 74 and stops reversion, so that footrest 1 is no longer rotated towards each other with leg support bar 3, prevents
Toe bends the normal range value that angle is more than human body.
When foot is not contacted with ground, the pressure of front foot pressure sensor Yu metapedes pressure sensor is not detected in main control chip
Force signal, main control chip controls driving motor 74 and rotates, so that footrest and leg support bar 3 are located at entopic initial shape
State.
Further, main control chip can pass through respectively control respectively according to the size of front foot pressure signal, metapedes pressure signal
The reversion of driving motor 74 processed rotates forward, and controls and reaches different angular positions between footrest and leg support bar 3, that is, so that foot
Portion is located at different toes and bends angle, dorsiflex angle.
The above is presently preferred embodiments of the present invention and its technical principle 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, simple replacement etc. is obvious changes, all fall within the protection scope of the present invention.
Claims (6)
1. adjustment type drop foot rehabilitation orthoses characterized by comprising
For fixing the foot fixation kit of foot,
For fixing the leg fixation kit of calf,
Control unit is rotated for controlling foot fixation kit by a draw-off mechanism relative to leg fixation kit, so that foot
Portion's fixation kit opposed legs fixation kit is located at original state, dorsi-flexed state, toe and bends one of state state；
Described control unit includes main control chip, front foot pressure sensor, metapedes pressure sensor, driving motor, front foot pressure
Sensor is set on the foot fixation kit position for corresponding to front foot, and metapedes pressure sensor is set to the foot fixation kit
The position of upper corresponding metapedes, driving motor are connected with the movable end of the draw-off mechanism, front foot pressure sensor, metapedes pressure
The signal output end of sensor is connected with the data input pin of main control chip, the control signal output and driving of main control chip
The control terminal of motor is connected, and can control respectively driving motor respectively according to the size of front foot pressure signal, metapedes pressure signal
It inverted, rotated forward, controlled and reach different angular positions between footrest and leg support bar, so that foot is located at difference
Toe bend angle, dorsiflex angle；
Described control unit further includes angular transducer, which is set to the foot fixation kit and fixes with leg
The rotation connection position of component, the signal output end of the angular transducer are connected with the data input pin of the main control chip,
The angular transducer carries on the back bent angle, toe angle in the wrong for sensing；
The foot fixation kit includes footrest, and the leg fixation kit includes leg support bar, the footrest and thigh support
Bar is connected by elastic component, and in the case where not by external force, by the effect of elastic-restoring force, footrest can phase with leg support bar
Foot can be brought up to human normal position, prevent drop foot in stationary state to rotation；
The draw-off mechanism includes rope sheave, pulley, rope part, which is set to the bottom that the foot fixation kit corresponds to front foot position
Portion, pulley are set to the footrest rear end, which is fixed on the leg fixation kit, the other end by the pulley with
Rope sheave is connected, and the power end of the driving motor is connected with the rope sheave, drives rope sheave rotation by the driving motor, can
Adjust the relative position of the footrest and leg support bar.
2. adjustment type drop foot rehabilitation orthoses according to claim 1, which is characterized in that the fixed group in the leg
Part includes leg butt, and leg butt and the leg support bar are hinged, and the rope part is fixed on the leg butt.
3. adjustment type drop foot rehabilitation orthoses according to claim 1, which is characterized in that set at the top of the footrest
There is induction insole, the front foot pressure sensor is arranged in the position that toe is corresponded on the induction insole, and the position of corresponding heel is set
Set the metapedes pressure sensor.
4. adjustment type drop foot rehabilitation orthoses according to claim 1, which is characterized in that the footrest further includes
The front foot fixing belt and metapedes fixing belt being fixedly connected with the footrest.
5. adjustment type drop foot rehabilitation orthoses according to claim 2, which is characterized in that the fixed group in the leg
Part further includes leg fixing belt, leg lining, and leg fixing belt is fixedly connected with the leg support bar, leg lining and the thigh support
Bar is hinged.
6. adjustment type drop foot rehabilitation orthoses according to claim 1, which is characterized in that in gait processes,
When metapedes when being contacted with ground, the metapedes pressure sensor senses metapedes pressure signal, and metapedes pressure signal is transmitted to
The main control chip, the main control chip control the driving motor and rotate forward according to the metapedes pressure signal, and then described in drive
Rope sheave rotates forward, and the rope part reduces the pulling force of footrest, and the footrest is under the action of elastic-restoring force to the thigh support
Bar is mobile, so that foot carries out back Qu Yundong；When front foot when being contacted with ground, the front foot pressure sensor senses front foot pressure
Front foot pressure signal is transmitted to the main control chip by force signal, and the main control chip controls institute according to the front foot pressure signal
Driving motor reversion is stated, the rope sheave is driven to invert, the rope part increases the pulling force of footrest, and the footrest overcomes elastic recovery
The effect of power is mobile to the direction far from the leg support bar, so that foot, which carries out toe, bends movement；When foot does not connect with ground
The pressure signal of the front foot pressure sensor and metapedes pressure sensor, the master control is not detected in touching, the main control chip
The rotation of driving motor described in chip controls, so that the footrest and leg support bar are located at entopic original state.
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 CN107496065A (en) | 2017-12-22 |
| CN107496065B true 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) |
Families Citing this family (10)
| 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 |
| TW202002918A (en) * | 2018-05-30 | 2020-01-16 | 奧微醫學科技股份有限公司 | Active arthritis correction assistive device and operating 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 |
| CN110339547B (en) * | 2019-07-01 | 2020-11-24 | 军事科学院军事医学研究院环境医学与作业医学研究所 | Foot assistance exoskeleton device |
| 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 |
| 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 |
| KR102637140B1 (en) * | 2021-03-04 | 2024-02-16 | 아도방휫토 가부시키가이샤 | Tools for lower foot correction |
| CN216823794U (en) * | 2021-04-20 | 2022-06-28 | 安杰莱科技(杭州)有限公司 | Mechanical ankle joint |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB121322A (en) * | 1917-12-07 | 1918-12-09 | Edward Samuel Whitehorn | Surgical Appliance for Dropped Foot. |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101548925B (en) * | 2009-05-05 | 2011-01-05 | 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 |
| US10357390B2 (en) * | 2014-11-14 | 2019-07-23 | Rehabilitation Institute Of Chicago | Ankle foot tensioned orthosis |
-
2017
- 2017-09-20 CN CN201710858885.2A patent/CN107496065B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB121322A (en) * | 1917-12-07 | 1918-12-09 | Edward Samuel Whitehorn | Surgical Appliance for Dropped Foot. |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107496065A (en) | 2017-12-22 |
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 | |
| CN107485476B (en) | Foot axis trimming type drop foot rehabilitation orthoses | |
| Bae et al. | A soft exosuit for patients with stroke: Feasibility study with a mobile off-board actuation unit | |
| CN101589983B (en) | Wearable lower limb exoskeleton device | |
| US6666798B2 (en) | Therapeutic and rehabilitation apparatus | |
| US8608479B2 (en) | Systems and methods for facilitating gait training | |
| CN208212176U (en) | Lower limb exoskeleton robot and healing robot | |
| CN201510472U (en) | Wearable lower limb exoskeleton device | |
| US20100270771A1 (en) | Walking auxiliary equipment | |
| JP6647225B2 (en) | Leg straightening device and straightening device | |
| CN115089444A (en) | Method of promoting gait improvement | |
| CN110123589A (en) | A kind of wearable lower limb rehabilitation walk-aiding exoskeleton of lightweight for hemiplegic patient | |
| CN205126737U (en) | A ectoskeleton device for lower limbs of human body is recovered | |
| CN109124988B (en) | Guiding mechanism, lower limb rehabilitation exoskeleton and exoskeleton robot | |
| KR20190056592A (en) | Ankle Assist Apparatus | |
| WO2016180074A1 (en) | Interactive exoskeleton robotic knee system | |
| KR20190098578A (en) | Ankle-Foot Orthosis | |
| CN112370305A (en) | Exoskeleton robot for lower limb rehabilitation training and control method thereof | |
| CN114733145B (en) | Intelligent multifunctional lower limb rehabilitation training integrated machine | |
| CN114404229B (en) | Flexible wearable object actuator for lower limb rehabilitation | |
| CN110302000A (en) | It is a kind of for intervening the dynamic orthotic appliance and method of children's hip anormogenesis | |
| JP2013070786A (en) | Walking aid device |
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 |