CN108113849A - Rehabilitation of anklebone system and its control method - Google Patents
Rehabilitation of anklebone system and its control method Download PDFInfo
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- CN108113849A CN108113849A CN201810098058.2A CN201810098058A CN108113849A CN 108113849 A CN108113849 A CN 108113849A CN 201810098058 A CN201810098058 A CN 201810098058A CN 108113849 A CN108113849 A CN 108113849A
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- 210000004233 talus Anatomy 0.000 title claims abstract description 41
- 238000000034 method Methods 0.000 title claims abstract description 27
- 210000002683 foot Anatomy 0.000 claims abstract description 44
- 238000009434 installation Methods 0.000 claims abstract description 27
- 238000012544 monitoring process Methods 0.000 claims abstract description 4
- 238000004364 calculation method Methods 0.000 claims description 15
- 230000007246 mechanism Effects 0.000 claims description 14
- 238000012549 training Methods 0.000 claims description 10
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 230000005484 gravity Effects 0.000 claims description 4
- 238000013016 damping Methods 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 230000010355 oscillation Effects 0.000 claims description 2
- 230000003139 buffering effect Effects 0.000 claims 1
- 210000000544 articulatio talocruralis Anatomy 0.000 description 13
- 210000003423 ankle Anatomy 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000001186 cumulative effect Effects 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 230000005012 migration Effects 0.000 description 2
- 238000013508 migration Methods 0.000 description 2
- 230000009699 differential effect Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H2001/0203—Rotation of a body part around its longitudinal axis
-
- 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
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- 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
- A61H2201/50—Control means thereof
-
- 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
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention discloses a kind of rehabilitation of anklebone system and its control method, and rehabilitation of anklebone system includes the first mounting base, and the first mounting base is equipped with the support plate stretched out upwards, and support plate is equipped with installation axle；Pedal structure, pedal structure include foot pedal, and the pressure-bearing surface of foot pedal is equipped with the connecting plate stretched out upwards, and connecting plate is set on the mounting shaft；Driving device, driving device make connecting plate and foot pedal using installation axle as fulcrum reciprocally swinging for being drivingly connected plate；Angle monitor device, angle monitor device are used to monitor the swing angle of connecting plate relative support plate swing；And control device, control device is communicated to connect with driving device and angle monitor device, when the swinging track of angle monitor device monitoring to foot pedal deviates desired guiding trajectory, the angle signal of foot pedal is sent to control device, control device receiving angle signal, and the output power of driving device is adjusted, so that foot pedal is swung along desired guiding trajectory.
Description
Technical field
The present invention relates to medical instruments field, more particularly to a kind of rehabilitation of anklebone system and its control method.
Background technology
Ankle-joint is one of important weight-bearing joints of lower limb, in the daily routines of people its stability and flexibility play
Important role.Due to ankle-joint patient caused by long-term joint wear, injury gained in sports, contingency etc. it is more and more, it is necessary to
The rehabilitation training of science is to realize the recovery to ankle-joint sufferer.
However, traditional rehabilitation institution is when in use, pedal swinging process is susceptible to fluctuation, to Rehabilitation not
Profit or even secondary injury is caused to patient.
The content of the invention
Based on this, the present invention proposes a kind of rehabilitation of anklebone system and its control method, solves traditional rehabilitation of anklebone
When in use, pedal swinging process is susceptible to fluctuation for mechanism, it is unfavorable to Rehabilitation the problem of.
Specific technical solution is as follows：
A kind of rehabilitation of anklebone system, including：
First mounting base, the pressure-bearing surface of first mounting base are equipped with the support plate stretched out upwards, are set in the support plate
There is installation axle；
Pedal structure, the pedal structure include foot pedal, and the pressure-bearing surface of the foot pedal is equipped with the connection stretched out upwards
Plate, the connecting plate are arranged in the installation axle；
Driving device, the driving device make the connecting plate and the foot pedal with institute for driving the connecting plate
Installation axle is stated as fulcrum reciprocally swinging；
Angle monitor device, the angle monitor device are used to monitor the pendulum that the relatively described support plate of the connecting plate is swung
Dynamic angle；And
Control device, the control device are communicated to connect with the driving device and the angle monitor device, the control
Device processed can adjust the output power of the driving device according to the angle information that the angle monitor device monitoring arrives, and make institute
Foot pedal is stated to swing by desired guiding trajectory.
When in use, the driving device drives relatively described first installation of the foot pedal to above-mentioned rehabilitation of anklebone system
Seat swings back and forth, and therefore, the ankle-joint that patient is assisted in when patient places foot on the footrests carries out dorsiflexion and plantar
Activity is bent, helps Rehabilitation, further, according to the severity of the ankle-joint of patient, the control device can adjust institute
The output power of driving device is stated, the foot pedal is made to be moved by desired guiding trajectory, further, the control device and the driving
Device and angle monitor device communication connection, when the swinging track of angle monitor device monitoring to the foot pedal is inclined
During from desired guiding trajectory, the angle signal of the foot pedal is sent to control device, the control device receives the angle letter
Number, and the output power of the driving device is adjusted, so that the foot pedal is swung along desired guiding trajectory.
In one of the embodiments, the driving device includes reciprocating drive mechanism and follower, the reciprocal drive
Motivation structure enables the follower to drive the connecting plate and the foot pedal with described for driving the follower
Installation axle is fulcrum reciprocally swinging.
In one of the embodiments, further include buffer structure, the buffer structure include the second mounting base, sliding part and
Elastic parts, second mounting base include the first baffle being oppositely arranged and second baffle and guide part, the guide part
One end is connected with the first baffle, and the other end is connected with the second baffle, the first baffle or the second baffle with
The power intake connection of the follower, the sliding part are movably set on the guide part, the sliding part
It is connected with the power output end of the reciprocating drive mechanism, the reciprocating drive mechanism is enable to drive the sliding part along institute
Guide part reciprocating movement is stated, the elastic parts is movably sheathed on the guide part, and the elastic parts includes first
Elastic component and the second elastic component, first elastic component are arranged between the sliding part and the first baffle, and described second
Elastic component is arranged between the second baffle and the sliding part.In this way, it ensure that the driving mechanism drives the slip
When part is dynamic along the axial reciprocating migration of the connector, the sliding part is to the power of the power intake application of the follower
It is transferred by first elastic component or second elastic component, the process of rehabilitation of anklebone system is being used so as to mitigate patient
In caused by ankle-joint impact.
In one of the embodiments, supporting rack and the 3rd mounting base are further included, support frame as described above is arranged at described first
On the pressure-bearing surface of mounting base, the 3rd mounting base is arranged on support frame as described above, the 3rd mounting base include top plate and
Every the first side plate and the second side plate being arranged on the top plate, second mounting base is arranged at first side plate and second
Between side plate, and second mounting base is slidably connected with the top plate, and first side plate is equipped with mounting hole, the driven machine
Structure is equipped with drive rod and connecting rod, and one end of the drive rod is connected through the mounting hole with the first connecting portion, described
One end of connecting rod is connected with the other end of the drive rod, and the other end is connected with the connecting plate.
In one of the embodiments, displacement sensing apparatus is further included, the displacement sensing apparatus includes mounting bracket, position
Scale and reader, the shift scale is moved to be arranged on the pressure-bearing surface of the support plate, described mounting bracket one end with it is described
Sliding part connects, and the other end and shift scale interval setting and the reader are arranged at the other end of the sliding part,
For reading the deflection of first elastic component or second elastic component.
A kind of control method of the training pattern of rehabilitation of anklebone system, includes the following steps：
Plate is drivingly connected to swing by desired guiding trajectory；
The first actual swing angle when the connecting plate is swung is obtained, calculate the first actual swing angle and is preset
The angular error of swing angle, and generate angular error signal；
The angular error signal is received, erection rate is calculated according to the angular error, and generates actuating speed
Adjust instruction；
The actuating speed adjust instruction is received, by the erection rate connecting plate is driven to swing.
The control method of the training pattern of above-mentioned rehabilitation of anklebone system can set ankle according to the situation of patient
The angular range and speed of dorsiflexion and plantar flexion set the swinging track that the relatively described support plate of the connecting plate is swung, pass through
The first actual swing angle is measured, the angular error of the first actual swing angle and default swing angle is drawn, passes through the angle
Error, the erection rate calculated are spent, and by the erection rate connecting plate is driven to be swung by the desired guiding trajectory, makes institute
The swing angle for stating the relatively described support plate of connecting plate within a preset range, movement instruction is carried out so as to fulfill to the ankle-joint of sufferer
Practice.
In one of the embodiments, the calculation formula of the erection rate of subsequent time is calculated according to the angular error
For：
Wherein, J represents the relation between the swing angular velocity of the connecting plate and the translational velocity of the drive rod, statement
For：XlIt is the first connecting portion to the horizontal distance of the installation axle, is expressed as：l1For the length of the connecting plate, l2For the length of the connecting rod, l3For the drive
The length of lever, h are the drive rod to the vertical range of the installation axle, l4For the length of the guide part, θ is described the
One actual swing angle, θdTo preset swing angle, the deflection of the first elastic component or second elastic component described in Δ x, X is
The sliding part is to the horizontal distance of the installation axle, e=θ-θdFor angular error,For angle accumulated error, kpFor than
Example coefficient, kiIntegration time constant, kdDerivative time constant.
A kind of control method of the strength building pattern of rehabilitation of anklebone system, includes the following steps：
The foot pedal is driven, the connecting plate is made to be swung by desired guiding trajectory；
The second actual swing angle when the connecting plate is swung is obtained, it is actual by described second to calculate the connecting plate
The swing angle expectation moment values that the connecting plate obtains when swinging；
When calculating the connecting plate by the described second actual swing angle swing, the actual torque of the connecting plate acquisition
Value calculates the torque error between the expectation moment values and the actual torque value, and generates torque error signal；
The torque error signal is received, amendment torque is calculated according to the torque error, and generates driving moment
Adjust instruction；
The driving moment adjust instruction is received, and by the amendment torque connecting plate is driven to swing.
The control method of the strength building pattern of above-mentioned rehabilitation of anklebone system can set ankle according to the situation of sufferer
The angular range of dorsiflexion and plantar flexion, speed and force parameter, that is, set the relatively described support plate of the connecting plate swing it is pre-
If swinging track, when the patient driving foot pedal, the foot pedal is made to drive the relatively described support plate of connecting plate
It swings, it is real by described second to calculate the connecting plate for the second actual swing angle when being swung by obtaining the connecting plate
The border swing angle expectation moment values that the connecting plate obtains when swinging, and the connecting plate is calculated by the described second actual swing
During angle swinging, the actual torque value of the connecting plate acquisition is obtained between the expectation moment values and the actual torque value
Torque error, the amendment torque calculated according to the torque error drives the connecting plate opposite with the amendment torque
The support plate is swung, and the swing angle of the connecting plate is made to be always held in the range of desired guiding trajectory, so as to help patient into
Row strength building.
In one of the embodiments, the calculation formula of the actual torque is：
It is described it is expected torque calculation formula be：
Wherein, τhFor the default torque, τplatThe moment of resistance on the connecting plate, τ are applied to for the elastic partssd
For the expectation torque, Jl、Cl、GlInertia, damping and the gravity of respectively described connecting plate, τplatWith the elastic parts
Elastic force FsBetween relation be described as with Jacobian matrix：τplat=JTFs, therefore, elastic force can be described as：Fs=2K Δ x,
Wherein, K is the coefficient of elasticity of the elastic parts, the deflection of the first elastic component or second elastic component described in Δ x,
In, J represents the relation between the swing angular velocity of the connecting plate and the translational velocity of the drive rod, is expressed as：
In one of the embodiments, the calculation formula of the amendment torque of subsequent time is：
Wherein, Δ τ=τh-τsdFor torque error, kpFor proportionality coefficient, kiIntegration time constant, kdDerivative time constant,To accumulate torque error.
Description of the drawings
Fig. 1 is the dimensional structure diagram of rehabilitation of anklebone system；
Fig. 2 is the sectional view of rehabilitation of anklebone system；
Fig. 3 is rehabilitation of anklebone system structure diagram in an embodiment；
Fig. 4 is the structure diagram of the 3rd mounting base；
Fig. 5 is the flow chart of the control method of the training pattern of rehabilitation of anklebone system；
Fig. 6 is the flow chart of the control method of the strength building pattern of rehabilitation of anklebone system；
Fig. 7 is the schematic diagram of rehabilitation of anklebone system in another embodiment.
Reference sign：
10th, rehabilitation of anklebone system, the 100, first mounting base, 101, support plate, 102, installation axle, 200, pedal structure,
201st, foot pedal, 202, connecting plate, 300, reciprocating drive mechanism, 301, screw, 302, nut, 400, follower, 401, drive
Lever, 402, connecting rod, 500, angle monitor device, 600, displacement sensing apparatus, 601, reader, 602, shift scale,
603rd, mounting bracket, 700, buffer structure, the 701, second mounting base, 702, first baffle, 703, second baffle, 704, be oriented to
Part, 705, sliding part, 706, elastic parts, the 707, first elastic component, the 708, second elastic component, the 800, the 3rd mounting base, 801,
Top plate, the 802, first side plate, the 803, second side plate, 804, mounting hole, the 805, first contact-making switch, the 806, second contact-making switch,
900th, supporting rack.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, below in conjunction with the accompanying drawings to the present invention
Specific embodiment be described in detail.Many details are elaborated in the following description in order to fully understand this hair
It is bright.But the invention can be embodied in many other ways as described herein, those skilled in the art can be not
Similar improvement is done in the case of running counter to intension of the present invention, therefore the present invention is not limited to the specific embodiments disclosed below.
As shown in Figure 1, an embodiment discloses a kind of rehabilitation of anklebone system 10, including：First mounting base 100, first
The pressure-bearing surface of mounting base 100 is equipped with the support plate 101 stretched out upwards, and support plate 101 is equipped with installation axle 102；Pedal structure
200, pedal structure 200 includes foot pedal 201, and the pressure-bearing surface of foot pedal 201 is equipped with the connecting plate 202 stretched out upwards, connecting plate
202 are arranged in installation axle 102；Driving device, driving device make connecting plate 202 and foot pedal for being drivingly connected plate 202
201 with installation axle 102 be fulcrum reciprocally swinging；Angle monitor device 500, angle monitor device 500 are used to monitor connecting plate 202
The swing angle that relative support plate 101 is swung；And control device, control device and driving device and angle monitor device 500 are logical
Letter connection, control device can adjust the output power of driving device according to the angle information that angle monitor device 500 monitors,
Foot pedal 201 is made to be swung by desired guiding trajectory.
When in use, driving device driving foot pedal 201 is with respect to the first mounting base 100 for above-mentioned rehabilitation of anklebone system 10
Backswing is moved, and therefore, the ankle-joint that patient is assisted in when foot is placed on foot pedal 201 by patient carries out dorsiflexion and plantar flexion
Activity helps Rehabilitation, and further, according to the severity of the ankle-joint of patient, control device can adjust driving device
Output power, foot pedal 201 is made to be moved by desired guiding trajectory, further, control device and driving device and angle monitor device
500 communication connections, when angle monitor device 500 monitors that the swinging track of foot pedal 201 deviates desired guiding trajectory, by foot pedal
201 angle signal is sent to control device, control device receiving angle signal, and adjusts the output power of driving device, from
And foot pedal 201 is made to be swung along desired guiding trajectory.
Specifically, as shown in Figure 1, in this embodiment, connecting plate 202 is set in installation axle 102, follower
400 power output end is connected with connecting plate 202, is swung back and forth for 200 relative support plate 101 of driving pedal structure.At it
In his embodiment, the power output end of follower 400 can also be connected with installation axle 102, and connecting plate 202 is arranged at installation
On axis 102, follower 400 is swung back and forth by the way that installation axle 102 is driven to rotate come driving pedal structure 200.As shown in Figure 1,
Specifically, in this embodiment, the first mounting base 100 is arranged at equipped with two block gaps on 100 pressure-bearing surface of the first mounting base
Support plate 101, pedal structure 200 include the connecting plate 202 that two block gaps are arranged on 201 pressure-bearing surface of foot pedal, pedal structure
200 are arranged between two pieces of support plates 101, and one piece of correspondence of support plate 101 is connected with one piece of connecting plate 202.
Specifically, angle monitor device 500 can be grating sensor or electromagnetic type angular transducer or
High speed video camera.
As shown in Figures 1 and 3, on the basis of any of the above-described embodiment, driving device include reciprocating drive mechanism 300 and
Follower 400, reciprocating drive mechanism 300 enable follower 400 to drive connecting plate 202 for driving follower 400
And foot pedal 201 with installation axle 102 be fulcrum reciprocally swinging.
As shown in figure 4, on the basis of any of the above-described embodiment, rehabilitation of anklebone system 10 further includes buffer structure 700,
Buffer structure 700 includes the second mounting base 701, sliding part 705 and elastic parts 706, and the second mounting base 701 includes being oppositely arranged
First baffle 702 and second baffle 703 and guide part 704, one end of guide part 704 be connected with first baffle 702, the other end
It is connected with second baffle 703, first baffle 702 or second baffle 703 are connected with the power intake of follower 400, are slided
Part 705 is movably set on guide part 704, and sliding part 705 is connected with the power output end of reciprocating drive mechanism 300,
Enable reciprocating drive mechanism 300 that sliding part 705 to be driven to be moved back and forth along guide part 704, elastic parts 706 is movably arranged
In on guide part 704, elastic parts 706 includes the first elastic component 707 and the second elastic component 708, and the first elastic component 707 is arranged at
Between sliding part 705 and first baffle 702, the second elastic component 708 is arranged between second baffle 703 and sliding part 705.Such as
This, when ensure that driving mechanism drives sliding part 705 dynamic along the axial reciprocating migration of connector, sliding part 705 is to follower
The power that 400 power intake applies is transferred by the first elastic component 707 or the second elastic component 708, is made so as to mitigate patient
With the impact caused by ankle-joint during rehabilitation of anklebone system 10.
As shown in Figure 1, on the basis of any of the above-described embodiment, rehabilitation of anklebone system 10 further include supporting rack 900 and
3rd mounting base 800, supporting rack 900 are arranged on the pressure-bearing surface of the first mounting base 100, and the 3rd mounting base 800 is arranged at support
On frame 900, the 3rd mounting base 800 includes top plate 801 and the first side plate 802 and the second side plate that are disposed on top plate 801
803, the second mounting base 701 is arranged between the first side plate 802 and the second side plate 803, and the second mounting base 701 and top plate 801
It is slidably connected, the first side plate 802 is equipped with mounting hole 804, and follower 400 is equipped with drive rod 401 and connecting rod 402, drive rod
401 one end is connected through mounting hole 804 with first connecting portion, and one end of connecting rod 402 connects with the other end of drive rod 401
It connects, the other end is connected with connecting plate 202.Further, on the basis of the embodiment, the 3rd mounting base 800 is equipped with sliding slot, the
Two mounting bases 701 are equipped with the slide being slidably matched with sliding slot.
As shown in figure 4, in any of the above-described embodiment, follower 400 includes drive rod 401 and connecting rod 402, driving
One end of bar 401 is connected with first connecting portion, and the other end of drive rod 401 is connected with one end of connecting rod 402, connecting rod 402
The other end be connected with connecting plate 202.
As shown in figure 3, on the basis of any of the above-described embodiment, contact-making switch component, contact-making switch component bag are further included
The first contact-making switch 805 and the second contact-making switch 806 are included, the first contact-making switch 805 is arranged on the first side plate 802, and second connects
Switch 806 is touched to be correspondingly arranged on the first side plate 802.First contact-making switch 805 and the second contact-making switch 806 are used to limit the 3rd
The shift position of mounting base 800.
As shown in figure 4, on the basis of any of the above-described embodiment, rehabilitation of anklebone system 10 further includes displacement sensing apparatus
600, displacement sensing apparatus 600 includes mounting bracket 603, shift scale 602 and reader 601, and shift scale 602 is arranged at branch
On the pressure-bearing surface of fagging 101,603 one end of mounting bracket is connected with sliding part 705, the other end and shift scale 602 be arranged at intervals,
And reader 601 is arranged at the other end of sliding part 705, for reading the deformation of the first elastic component 707 or the second elastic component 708
Amount.
As shown in Fig. 2, on the basis of any of the above-described embodiment, reciprocating drive mechanism 300 includes motor, screw and is arranged
Nut 302 on screw drives screw 301 to rotate, so as to which nut 302 be driven to be moved back and forth along screw by motor.
Specifically, controller can be PLC programmable controller, but be not limited to PLC programmable controller or
Motion pick card or mobile PC end communicate to connect with displacement sensing apparatus 600 and angle sensing equipment as long as meeting controller, make
Controller can receive 700 feedack of angle sensing equipment of displacement sensing apparatus 600, and driving device is adjusted by controlling
Output power so that pedal by default path swing.
As shown in figure 5, an embodiment also discloses a kind of control method of the training pattern of rehabilitation of anklebone system,
Include the following steps：
S100：Plate is drivingly connected to swing by desired guiding trajectory；In this step, plate can be drivingly connected by driving device to press
Desired guiding trajectory is swung, and in this embodiment, is drivingly connected plate by follower and is swung by desired guiding trajectory, wherein swinging track
It is set according to itself patient's condition of patient.
S200：The first actual swing angle when the connecting plate is swung is obtained, calculates the first actual swing angle
With the angular error of default swing angle, and angular error signal is generated；In this step, detected and connected by angle monitor device
The swing angle of fishplate bar relative support plate by obtained angular error, judges the angle of oscillation that connecting plate relative support plate is swung
Bias is spent, so as to send angular error signal to control device, is adjusted by control device.
S300：The angular error signal is received, erection rate is calculated according to the angular error, and generates driving
Speed adjust instruction；
S400：The actuating speed adjust instruction is received, by the erection rate connecting plate is driven to swing, driving
Device is drivingly connected plate swing with the erection rate after calculating, so that the swing angle of connecting plate is within a preset range, so as to
It realizes and training is carried out to the ankle-joint of sufferer.
The control method of the training pattern of above-mentioned rehabilitation of anklebone system can set ankle according to the situation of patient
The angular range and speed of dorsiflexion and plantar flexion set the swinging track that the relatively described support plate of the connecting plate is swung, pass through
The first actual swing angle is measured, the angular error of the first actual swing angle and default swing angle is drawn, passes through the angle
Error, the erection rate calculated are spent, and by the erection rate connecting plate is driven to be swung by the desired guiding trajectory, makes institute
The swing angle for stating the relatively described support plate of connecting plate within a preset range, movement instruction is carried out so as to fulfill to the ankle-joint of sufferer
Practice.
On the basis of any of the above-described embodiment, the calculating that the erection rate of subsequent time is calculated according to angular error is public
Formula is：
Wherein, J represents the relation between the swing angular velocity of connecting plate and the translational velocity of drive rod, is expressed as：As shown in fig. 7, XlFor the horizontal distance of first connecting portion to installation axle,
It is expressed as：l1For the length of connecting plate, l2For the length of connecting rod, l3For
The length of drive rod, h are drive rod to the vertical range of installation axle, l4For the length of guide part, θ presss from both sides for the first actual swing
Angle, θdFor current preset swing angle, the deflection of the first elastic components of Δ x or the second elastic component, X is sliding part to installation axle
Horizontal distance, e are angular error,For angle accumulated error, kpFor proportionality coefficient, kiIntegration time constant, kd
Derivative time constant.
Specifically, kp, ki, kdIt is default normal number, controlling cycle T as controlling cycle T=0.01s, takes h=
0.3m, l3=0.25m, l2=0.25m, l1=0.3m, kp=5, ki=0.2, kd=0.1, initial time t=0：When measuring initial
First actual swing angle θ (the 0)=0.5rad carved presets swing angle：θd(0)=0.51rad；Default angular speed
The calculation procedure of erection rate is as follows：
1st, the J (θ (0))=0.2419 at current time is calculated according to formula (2)；
Error when the 2nd, calculating initial：E (0)=θ (0)-θd(0)=- 0.01；
3rd, erection rate is calculated, is carved at the beginning, integration, the differential action are zero：According to
Formula (1) can obtain erection rate：
(2) second moment t=T=0.01：
First actual swing angle：θ (0.01)=0.507rad, predetermined angle：θd(0.01)=0.512rad, thus,
Default angular speed
The calculation procedure of erection rate is as follows：
1st, the J (θ (0.01))=0.2400 at current time is calculated according to formula (2)；
2nd, the angular error at current time is calculated：E (0.01)=θ (0.01)-θd(0.01)=- 0.005；
3rd, erection rate is calculated：
Wherein cumulative angle error is：(because the sampling time
It is sufficiently small)；The differentiation element of error：Previous moment angular error divided by time interval are subtracted for current angular errorThe erection rate at so current t=T moment is：
And so on.
As shown in fig. 6, an embodiment also discloses a kind of control method of the strength building pattern of rehabilitation of anklebone system,
Include the following steps：
T100：The foot pedal is driven, the connecting plate is made to be swung by desired guiding trajectory；It in this step, can be according to disease
The situation of trouble sets angular range, speed and the force parameter of ankle dorsiflexion and plantar flexion, that is, sets connecting plate relative support plate
The default swinging track swung drives foot pedal by patient, connecting plate is made to be swung by desired guiding trajectory.
T200：The second actual swing angle when the connecting plate is swung is obtained, calculates the connecting plate by described the
The expectation moment values that the connecting plate obtains when two actual swing angles are swung；In this step, obtained by angle monitor device
The second actual swing angle when taking the connecting plate to swing.
T300：When calculating the connecting plate by the described second actual swing angle swing, the reality of the connecting plate acquisition
Moment values calculate the torque error between the expectation moment values and the actual torque value, and generate torque error signal；
In this step, the second actual swing angle of connecting plate relative support plate is detected by angle monitor device, calculates and obtains in fact
Border moment values judge actual torque value and it is expected the error between moment values, so as to which torque error signal transmission be filled to control
It puts, is swung by control device to be drivingly connected plate, so that the swing angle of connecting plate is within a preset range.
T400：The torque error signal is received, amendment torque is calculated according to the torque error, and generates driving
Torque adjust instruction；
T500：The driving moment adjust instruction is received, and by the amendment torque connecting plate is driven to swing, is driven
Dynamic device is drivingly connected plate swing with the amendment torque after calculating, so that the swing angle of connecting plate is within a preset range, from
And it realizes and training is carried out to the ankle-joint of sufferer.
The control method of the strength building pattern of above-mentioned rehabilitation of anklebone system can set ankle according to the situation of sufferer
The angular range of dorsiflexion and plantar flexion, speed and force parameter, that is, set the relatively described support plate of the connecting plate swing it is pre-
If swinging track, when the patient driving foot pedal, the foot pedal is made to drive the relatively described support plate of connecting plate
It swings, it is real by described second to calculate the connecting plate for the second actual swing angle when being swung by obtaining the connecting plate
The border swing angle expectation moment values that the connecting plate obtains when swinging, and the connecting plate is calculated by the described second actual swing
During angle swinging, the actual torque value of the connecting plate acquisition is obtained between the expectation moment values and the actual torque value
Torque error, the amendment torque calculated according to the torque error drives the connecting plate opposite with the amendment torque
The support plate is swung, and the swing angle of the connecting plate is made to be always held in the range of desired guiding trajectory, so as to help patient into
Row strength building.
On the basis of any of the above-described embodiment, the calculation formula of actual torque is：
The calculation formula for it is expected torque is：
Wherein, τhTo preset torque, τplatThe moment of resistance being applied to for elastic parts on connecting plate, τsdIt is expected torque,
Jl、Cl、GlThe respectively inertia of connecting plate, damping and gravity, τplatWith the elastic force F of elastic partssBetween relation with refined gram
It is than matrix description：τplat=JTFs, therefore, elastic force can be described as：Fs=2K Δ x, wherein, K is the elasticity system of elastic parts
Number, as shown in fig. 7, the deflection of the first elastic components of Δ x or the second elastic component, wherein, J represent the swing angular velocity of connecting plate with
Relation between the translational velocity of drive rod, is expressed as：
On the basis of any of the above-described embodiment, the calculation formula of the amendment torque of subsequent time is：
Wherein, Δ τ be torque error, kpFor proportionality coefficient, kiIntegration time constant, kdDerivative time constant,
To accumulate torque error.
Specifically, the coefficient of elasticity for taking elastic parts is：K=5N/mm, Jl=0.005kg.m2, Cl=0.05, Kl=20,
Bl=-10, gravity G can be reduced to 0, controlling cycle T=0.01s, control coefrficient kp=1, ki=0.01, kd=0.0001；
(1), initial time：
The algorithm example of motor pattern：θ (0)=0.5rad,Elastic parts
Deflection Δ x (0)=0.003m, predetermined angle θd(0)=0.51rad presets angular speed
Correct torque calculation procedure be：
1st, it is calculated according to formula (6)：J (θ (0))=0.2419；
2nd, current expectation torque is calculated according to formula (5)：
3rd, currently practical torque is calculated according to formula (4), and calculates Δ τ：
Δ τ (0)=τh(0)-τsd(0)=7.0570
4th, initial time, the integration amount error of torque errorMicro component
Current time amendment torque is calculated according to formula (7)：
(2), similarly, the second moment T=0.01s, second actual swing angle θ (0.01)=0.507rad,Δ x (0.01)=0.004m presets swing angle：θd(0.01)=0.512rad,
Correct torque calculation procedure be：
1st, the J (θ (0.01))=0.2400 at current time is calculated according to formula (6)；
2nd, current expectation torque is calculated according to formula (5)：
3rd, currently practical torque is calculated according to formula (4), and calculates Δ τ：
Δ τ (0.01)=τh(0.01)-τsd(0.01)=2.545
4th, the cumulative errors of torque are calculated：
Micro component：
Calculating amendment torque according to formula (7) is：
And so on.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The normally understood meaning of technical staff is identical.Term used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Each technical characteristic of above example can carry out arbitrary group
It closes, to make description succinct, combination not all possible to each technical characteristic in above-described embodiment is all described, however,
As long as contradiction is not present in the combination of these technical characteristics, the scope of this specification record is all considered to be.
Above example only expresses the several embodiments of the present invention, and description is more specific and detailed, but can not
Therefore it is construed as limiting the scope of the patent.It should be pointed out that for those of ordinary skill in the art,
On the premise of not departing from present inventive concept, various modifications and improvements can be made, these belong to protection scope of the present invention.
Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of rehabilitation of anklebone system, which is characterized in that including：
First mounting base, the pressure-bearing surface of first mounting base are equipped with the support plate stretched out upwards, and the support plate is equipped with peace
Fill axis；
Pedal structure, the pedal structure include foot pedal, and the pressure-bearing surface of the foot pedal is equipped with the connecting plate stretched out upwards, institute
Connecting plate is stated to be arranged in the installation axle；
Driving device, the driving device make the connecting plate and the foot pedal with the peace for driving the connecting plate
Dress axis is fulcrum reciprocally swinging；
Angle monitor device, the angle monitor device are used to monitor the angle of oscillation that the relatively described support plate of the connecting plate is swung
Degree；And
Control device, the control device are communicated to connect with the driving device and the angle monitor device, the control dress
The output power of the driving device can be adjusted according to the angle information that the angle monitor device monitoring arrives by putting, and make the foot
Pedal is swung by desired guiding trajectory.
2. rehabilitation of anklebone system according to claim 1, which is characterized in that the driving device includes reciprocal driving machine
Structure and follower, the reciprocating drive mechanism enable the follower to drive described for driving the follower
Connecting plate and the foot pedal are using the installation axle as fulcrum reciprocally swinging.
3. rehabilitation of anklebone system according to claim 2, which is characterized in that further include buffer structure, the buffering knot
Structure includes the second mounting base, sliding part and elastic parts, and second mounting base includes the first baffle and second being oppositely arranged
Baffle and guide part, one end of the guide part are connected with the first baffle, and the other end is connected with the second baffle, described
First baffle or the second baffle are connected with the power intake of the follower, and the sliding part is movably set in
On the guide part, the sliding part is connected with the power output end of the reciprocating drive mechanism, makes the reciprocal driving machine
Structure can drive the sliding part to be moved back and forth along the guide part, and the elastic parts is movably sheathed on the guide part
On, the elastic parts includes the first elastic component and the second elastic component, and first elastic component is arranged at the sliding part and institute
Between stating first baffle, second elastic component is arranged between the second baffle and the sliding part.
4. rehabilitation of anklebone system according to claim 3, which is characterized in that supporting rack and the 3rd mounting base are further included,
Support frame as described above is arranged on the pressure-bearing surface of first mounting base, and the 3rd mounting base is arranged on support frame as described above, institute
Stating the 3rd mounting base includes top plate and the first side plate and the second side plate that are disposed on the top plate, second mounting base
It is arranged between first side plate and the second side plate, and second mounting base is slidably connected with the top plate, described first
Side plate is equipped with mounting hole, and the follower is equipped with drive rod and connecting rod, and one end of the drive rod passes through the mounting hole
It is connected with the first connecting portion, one end of the connecting rod is connected with the other end of the drive rod, the other end and the company
Fishplate bar connects.
5. rehabilitation of anklebone system according to claim 4, which is characterized in that further include displacement sensing apparatus, institute's rheme
Moving sensing device includes mounting bracket, shift scale and reader, and the shift scale is arranged at the pressure-bearing surface of the support plate
On, described mounting bracket one end is connected with the sliding part, and the other end is arranged at intervals with the shift scale and the reader
The other end of the sliding part is arranged at, for reading the deflection of first elastic component or second elastic component.
6. a kind of control method of the training pattern of rehabilitation of anklebone system as claimed in claim 5, which is characterized in that
Include the following steps：
Plate is drivingly connected to swing by desired guiding trajectory；
The first actual swing angle when the connecting plate is swung is obtained, calculates the first actual swing angle and default swing
The angular error of angle, and generate angular error signal；
The angular error signal is received, erection rate is calculated according to the angular error, and generates actuating speed adjustment
Instruction；
The actuating speed adjust instruction is received, by the erection rate connecting plate is driven to swing.
7. the control method of the training pattern of rehabilitation of anklebone system according to claim 6, which is characterized in that root
The calculation formula that the erection rate of subsequent time is calculated according to the angular error is：
<mrow>
<mi>&omega;</mi>
<mo>=</mo>
<msup>
<mi>J</mi>
<mrow>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msup>
<mrow>
<mo>(</mo>
<mi>&theta;</mi>
<mo>)</mo>
</mrow>
<msub>
<mover>
<mi>&theta;</mi>
<mo>&CenterDot;</mo>
</mover>
<mi>d</mi>
</msub>
<mo>-</mo>
<msub>
<mi>k</mi>
<mi>p</mi>
</msub>
<mi>e</mi>
<mo>-</mo>
<msub>
<mi>k</mi>
<mi>i</mi>
</msub>
<msubsup>
<mo>&Integral;</mo>
<mn>0</mn>
<mi>t</mi>
</msubsup>
<mi>e</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mi>d</mi>
<mi>t</mi>
<mo>-</mo>
<msub>
<mi>k</mi>
<mi>d</mi>
</msub>
<mover>
<mi>e</mi>
<mo>&CenterDot;</mo>
</mover>
<mo>;</mo>
</mrow>
Wherein, J represents the relation between the swing angular velocity of the connecting plate and the translational velocity of the drive rod, is expressed as：XlIt is the first connecting portion to the horizontal distance of the installation axle, is expressed as：l1For the length of the connecting plate, l2For the length of the connecting rod, l3For the drive
The length of lever, h are the drive rod to the vertical range of the installation axle, l4For the length of the guide part, θ is described the
One actual swing angle, θdFor current preset swing angle, the deformation of the first elastic component or second elastic component described in Δ x
Amount, X are the sliding part to the horizontal distance of the installation axle, e=θ-θdFor angular error,It accumulates and misses for angle
Difference, kpFor proportionality coefficient, kiIntegration time constant, kdDerivative time constant.
A kind of 8. control method of the strength building pattern of rehabilitation of anklebone system as claimed in claim 5, which is characterized in that bag
Include following steps：
The foot pedal is driven, the connecting plate is made to be swung by desired guiding trajectory；
The second actual swing angle when the connecting plate is swung is obtained, calculates the connecting plate by the described second actual swing
The expectation moment values that the connecting plate obtains during angle swinging；
When calculating the connecting plate by the described second actual swing angle swing, the actual torque value of the connecting plate acquisition, meter
The torque error between the expectation moment values and the actual torque value is calculated, and generates torque error signal；
The torque error signal is received, amendment torque is calculated according to the torque error, and generates and corrects torque adjustment
Instruction；
The amendment torque adjust instruction is received, and by the amendment torque connecting plate is driven to swing.
9. the control method of the strength building pattern of rehabilitation of anklebone system according to claim 8, which is characterized in that institute
The calculation formula for stating actual torque is：It is described it is expected torque calculation formula be：
Wherein, τhFor the default torque, τplatThe moment of resistance on the connecting plate, τ are applied to for the elastic partssdFor institute
State expectation torque, Jl、Cl、GlInertia, damping and the gravity of respectively described connecting plate, τplatWith the bullet of the elastic parts
Power FsBetween relation be described as with Jacobian matrix：τplat=JTFs, therefore, elastic force can be described as：Fs=2K Δ x, wherein,
K is the coefficient of elasticity of the elastic parts, the deflection of the first elastic component or second elastic component described in Δ x, wherein, J tables
Show the relation between the swing angular velocity of the connecting plate and the translational velocity of the drive rod, be expressed as：
10. the control method of the strength building pattern of rehabilitation of anklebone system according to claim 9, which is characterized in that
The calculation formula of the amendment torque of subsequent time is：
<mrow>
<msub>
<mi>&tau;</mi>
<mrow>
<mi>p</mi>
<mi>i</mi>
<mi>d</mi>
</mrow>
</msub>
<mo>=</mo>
<mo>-</mo>
<msub>
<mi>k</mi>
<mi>p</mi>
</msub>
<mi>&Delta;</mi>
<mi>&tau;</mi>
<mo>-</mo>
<msub>
<mi>k</mi>
<mi>i</mi>
</msub>
<msubsup>
<mo>&Integral;</mo>
<mn>0</mn>
<mi>t</mi>
</msubsup>
<mi>&Delta;</mi>
<mi>&tau;</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mi>d</mi>
<mi>t</mi>
<mo>-</mo>
<msub>
<mi>k</mi>
<mi>d</mi>
</msub>
<mfrac>
<mi>d</mi>
<mrow>
<mi>d</mi>
<mi>t</mi>
</mrow>
</mfrac>
<mi>&Delta;</mi>
<mi>&tau;</mi>
<mo>;</mo>
</mrow>
Wherein, Δ τ=τh-τsdFor torque error, kpFor proportionality coefficient, kiIntegration time constant, kdDerivative time constant,To accumulate torque error.
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| CN201810098058.2A CN108113849A (en) | 2018-01-31 | 2018-01-31 | Rehabilitation of anklebone system and its control method |
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