CN108498285A - A kind of five degree of freedom ankle rehabilitation parallel robot for simulating walking with VR - Google Patents
A kind of five degree of freedom ankle rehabilitation parallel robot for simulating walking with VR Download PDFInfo
- Publication number
- CN108498285A CN108498285A CN201810317684.6A CN201810317684A CN108498285A CN 108498285 A CN108498285 A CN 108498285A CN 201810317684 A CN201810317684 A CN 201810317684A CN 108498285 A CN108498285 A CN 108498285A
- Authority
- CN
- China
- Prior art keywords
- electric pushrod
- platform
- fixed frame
- degree
- lower platform
- 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.)
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Classifications
-
- 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
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/002—Using electric currents
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
- A61H2205/106—Leg for the lower legs
-
- 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
- A61H2205/125—Foot reflex zones
Abstract
The invention discloses a kind of ankle rehabilitation parallel robots for simulating walking with VR, it is characterized in that, including upper mounting plate, middle platform, lower platform, wherein upper mounting plate is connect by three group of first electric pushrod with lower platform, and three group of first electric pushrod both ends are respectively linked in triangle relation with the upper mounting plate and lower platform respectively, middle platform is connect with lower platform by two group of second electric pushrod, and two group of second electric pushrod is respectively arranged at the both sides of middle platform and lower platform, the end of first electric pushrod and the second electric pushrod is equipped with pressure sensor, the lower platform is embedded with gyroscope and geomagnetic sensor, the pressure sensor, gyroscope and geomagnetic sensor generate VR virtual images by obtaining data.The present invention is combined with VR technologies, by simulating true moving scene, realizes the function of restoring or correct user's gait.
Description
Technical field
The present invention relates to a kind of five degree of freedom ankle rehabilitation parallel robots for simulating walking with VR.
Background technology
Traditional ankle and foot convalescence device is with SACHfoot adaptor, by reducing the movable model of ankle-joint in daily life
It encloses to reduce the secondary damage to ankle-joint, to play rehabilitation and protective effect.
But when ankle sprain is serious, needs to carry out ankle flexibility training in the process of rehabilitation, that is, allow ankle-joint to exist
It is moved in a certain range.Traditional ankle fixing means subtracts pauciarticular fortune although the stable state in affected part can be protected
Kinetic force can not reach best rehabilitation efficacy, and long-term this stress of wearing is concentrated and limits movable rehabilitation branch
Tool is easy to cause stasis, muscle rigidity, and swelling shouting pain is very uncomfortable.
In mechanical structure, the six degree of freedom ankle healing robot occurred at present, complicated in mechanical structure, for most
Only for the ankle-joint of the people of Three Degree Of Freedom, although six degree of freedom can accurately adjust the pose of ankle and foot, increase
The extra dof added still can increase the complexity of rehabilitation training system, and cause convalescence device volume excessive, and weight increases
Add, the affected part load also resulted in increases, and reduces the comfort of dress.
In control mode, increase the motion range of ankle simply by driver, it is possible to cause to patient affected part
Secondary damage such as reasonably cannot formulate rehabilitation training plans according to the position of patient affected part and seriousness well, gently then right
Affected part does not have effective rehabilitative action, serious, can cause suffering to patient or secondary damage.
Invention content
To solve defect existing for above-mentioned technology, the present invention is intended to provide a kind of ankle rehabilitation for simulating walking with VR is in parallel
Robot at least has easy donning, quick detachable, lighter, simple and reliable for structure, more comfortable more firm fixed injured ankle
The advantages that portion, rehabilitation training is more convenient.
Specific invention content is as follows：
It is a kind of with VR simulate walking five degree of freedom ankle rehabilitation parallel robot, which is characterized in that including upper mounting plate, in
Platform, lower platform, wherein upper mounting plate are connect by three group of first electric pushrod with lower platform, and three group of first electric pushrod
Both ends are respectively linked in triangle relation with the upper mounting plate and lower platform respectively, and middle platform is electronic by two group second with lower platform
Push rod connects, and two group of second electric pushrod is respectively arranged at the both sides of middle platform and lower platform, and described first electronic pushes away
The end of bar and the second electric pushrod is equipped with pressure sensor, and the lower platform is embedded with gyroscope and geomagnetic sensor, described
Pressure sensor, gyroscope and geomagnetic sensor generate VR virtual images by obtaining data, true by VR technical modellings
Moving scene realizes the function of restoring or correct user's gait.First electric pushrod and the second electric pushrod are one kind
Linear motor.
Upper mounting plate and middle platform contribute to fixed shank, belong to fixed platform, and lower platform belongs to dynamic flat for fixing foot
Platform.The mechanical structure of amphicheirality's layer-stepping based on power conduction, which can be shared, concentrates fixed caused pressure load, upper and lower
Increase a middle platform on platform base, make, in two platforms fix two groups of linear motors respectively, in the original integral type of holding
While degree of freedom, the comfort level of wearer is utmostly promoted.
Preferably, the upper mounting plate includes the first fixes sleeve, the first fixed frame, and first fixed frame passes through Hooke's hinge
It is linked with first electric pushrod, and the junction of Hooke's hinge and the first electric pushrod includes an at least pressure sensor.The
One fixed frame is made of rigid material.
Preferably, first fixed frame is equipped with horizontally arranged several jacks, consolidates for changing what the Hooke twisted
Positioning is set.By converting the fixed position of linear motor one end Hooke's hinge, the force application angle of linear motor is adjusted, so as to more comfortable
It wears on ground.
Preferably, the middle platform includes the second fixes sleeve, the second fixed frame, and second fixed frame passes through Hooke's hinge
It is linked with second electric pushrod, and the junction of Hooke's hinge and the second electric pushrod includes an at least pressure sensor.In
Platform mainly acts the effect shared and concentrate the fixed shank of fixed caused pressure load, enhancing.
Preferably, second fixes sleeve is made of gas permeable material, is adjusted by fragrant plant button elastic.
Preferably, second fixed frame is equipped with horizontally arranged several jacks, consolidates for changing what the Hooke twisted
Positioning is set.
Preferably, the lower platform includes vola platform, third fixed frame, flexible foot fixed part, the vola platform
Including plantar toe and foot heel, the third fixed frame is distributed in plantar toe and foot heel.
Preferably, the third fixed frame for being distributed in plantar toe is connected by flexural pivot with first electric pushrod, institute
It states and is distributed in the third fixed frame of foot heel and is connected with second electric pushrod by flexural pivot.
Preferably, it is connected by an extensible member between the plantar toe and foot heel, to adapt to different foot type.
Advantageous effect：
Present invention employs the parallel institution of upper, middle and lower layering, the mechanical structure based on amphicheirality's layer-stepping that power is conducted,
Can share concentrate it is fixed caused by pressure load, increase a middle platform on the basis of parallel institution, make, in two platforms
Two groups of linear motors are fixed respectively, while keeping the degree of freedom of original integral type, utmostly promote the comfortable of wearer
Degree.The present invention is combined with VR technologies, by simulating true moving scene, realizes the work(for restoring or correcting user's gait
Energy.The present invention is based on VR technology recovering aids, by VR virtual images, simulation is true to walk, moving scene, by device with
The synchronously simulating of VR images coordinates the device to simulate gait motion in real time, auxiliary patient restore or be remedied to standard walk and
Athletic posture.When training, patient needs to be sling by portal frame to keep foot hanging, and the convalescence device is coordinated to carry out simulating true gait
Rehabilitation training, help to restore function of walking, temper related muscle strength, be conducive to neural sensation reconstruction.
The antagonism rehabilitation training pattern that healing robot of the present invention bears a heavy burden realizes ankle in user using the device
When portion's function rehabilitation training, suitably increase its moving load to restore rehabilitation clients' related muscles strength or increase its related muscle group power
Amount.
Description of the drawings
Fig. 1 is the volume rendering structural schematic diagram of one embodiment of the present invention.
Reference numeral：
1, upper mounting plate, 2, middle platform, 3, lower platform, the 4, first electric pushrod, the 5, second electric pushrod, 6, extensible member, 11,
First fixes sleeve, the 12, first fixed frame, the 21, second fixes sleeve, the 22, second fixed frame, 31, vola platform, 32, third
Fixed frame, 33, flexible foot fixed part, 311, plantar toe, 312, foot heel
Specific implementation mode
With reference to specific embodiment, the present invention will be described：
As shown in Figure 1, the five degree of freedom ankle rehabilitation parallel robot of the present invention that walking is simulated with VR, including it is upper flat
Platform 1, middle platform 2, lower platform 3, wherein upper mounting plate 1 are connect by three group of first electric pushrod 4 with lower platform 3, and described three groups
First electric pushrod, 4 both ends are respectively linked in triangle relation with the upper mounting plate 1 and lower platform 3 respectively, middle platform 2 and lower platform
3 are connected by two group of second electric pushrod 5, and two group of second electric pushrod 5 is respectively arranged at middle platform 2 and lower platform 3
Both sides, the end of first electric pushrod, 4 and second electric pushrod 5 is equipped with pressure sensor, and the lower platform 3 is embedded with
Gyroscope and geomagnetic sensor, the pressure sensor, gyroscope and geomagnetic sensor generate the virtual shadows of VR by obtaining data
Picture realizes the function of restoring or correct user's gait by the true moving scene of VR technical modellings.Described first electronic pushes away
Bar 4 and the second electric pushrod 5 are a kind of linear motor.
Upper mounting plate 1 and middle platform 2 contribute to fixed shank, belong to fixed platform, and lower platform 3 belongs to for fixing foot
Moving platform.The mechanical structure of amphicheirality's layer-stepping based on power conduction, which can be shared, concentrates fixed caused pressure load,
Increase a middle platform 2 on upper and lower platform base, make, in two platforms fix two groups of linear motors respectively, in holding original one
While the degree of freedom of body formula, the comfort level of wearer is utmostly promoted.
In a preferred embodiment of the present invention, the upper mounting plate 1 includes the first fixes sleeve 11, the first fixed frame 12, institute
It states the first fixed frame 12 to link by Hooke's hinge and first electric pushrod 4, and the connection of Hooke's hinge and the first electric pushrod 4
Place includes an at least pressure sensor.First fixed frame, 12 property material is made, and the rigid material can be selected from metal, such as stainless
Steel, aluminium etc..
In a preferred embodiment of the present invention, first fixed frame 12 is equipped with horizontally arranged several jacks, is used for
Change the fixed position that the Hooke twists.By converting the fixed position of linear motor one end Hooke's hinge, linear motor is adjusted
Force application angle, more comfortably to wear.
In a preferred embodiment of the present invention, the middle platform 2 includes the second fixes sleeve 21, the second fixed frame 22, institute
It states the second fixed frame 22 to link by Hooke's hinge and second electric pushrod 5, and the connection of Hooke's hinge and the second electric pushrod 5
Place includes an at least pressure sensor.Middle platform 2, which mainly rises to share, concentrates the fixed shank of fixed caused pressure load, enhancing
Effect.
In a preferred embodiment of the present invention, second fixes sleeve 21 is made of gas permeable material, is adjusted by fragrant plant button
It is elastic.The gas permeable material can be selected from screen cloth, sympa-tex, cow leather upper leather, natural fabric etc..
In a preferred embodiment of the present invention, second fixed frame 22 is equipped with horizontally arranged several jacks, is used for
Change the fixed position that the Hooke twists.
In a preferred embodiment of the present invention, the lower platform 3 includes vola platform 31, third fixed frame 32, flexible foot
Portion's fixed part 33, the vola platform 31 include plantar toe 311 and foot heel 312, and the third fixed frame 32 is distributed in plantar toe
Portion 311 and foot heel 312.The flexible foot fixed part 33 is elastic by the adjustment of fragrant plant button, to ankle while wrapping sole
Carry out protectiveness pressure.
In a preferred embodiment of the present invention, the third fixed frame 32 for being distributed in plantar toe 311 passes through flexural pivot and institute
It states the first electric pushrod 4 to be connected, the third fixed frame 32 for being distributed in foot heel 312 electronic is pushed away by flexural pivot with described second
Bar 5 is connected.
In a preferred embodiment of the present invention, connected by an extensible member 6 between the plantar toe 311 and foot heel 312,
To adapt to patient's wearing of the foot of different size size, the scope of application is wider, makes the utilization rate higher of the present invention.
Under the rehabilitation modality of teaching reproduction, when patient wears the present invention, rehabilitation is first carried out to patients feet by doctor and is pressed
It rubs, the length of four push rods and change rate typing doctor in data transmit by pressure sensor by the present invention and computer system
The gimmick and dynamics of teacher so that patient can also carry out the recovering massage instruction of same effect in the execute-in-place of not doctor
Practice.It not only eliminates patient and travels to and fro between fatigued between rehabilitation teacher and residence, equally saved physiatrician's resource, reduced health
Cost is practiced in refreshment, improves rehabilitation efficiency.
When wearing the present invention, since leg and vola are kept fixed state for a long time, wrap up in and tie up the fixation of structure anxiety and can hamper
Hinder blood circulation, makes toe, foot, the feeling for having DOMS at shank, low pulse electricity is installed at vola and shank acupuncture point
Pole is exported bionical object micro-current in a manner of low frequency.Under the premise that security is guaranteed, different low-frequency current signals is simulated
The truly feels for going out massage, knocking, massage, cupping jar, acupuncture, scraping assist in patient during rehabilitation, to non-trouble
The muscle group at place plays the role of loosening, and relieves fatigue, and promotes blood circulation.
Rehabilitation situation can be assessed, suitably in the different phase of Rehabilitation based on teaching rehabilitation modality
Increase the intensity and movable amplitude of Rehabilitation training.With the process of Rehabilitation, the rehabilitation training scheme of patient is adjusted, it can
To avoid the secondary fatigue damage of patient affected part, increase all round exercise of core muscles group.
The above content is only presently preferred embodiments of the present invention, for those of ordinary skill in the art, according to the present invention
Thought, there will be changes in the specific implementation manner and application range, and the content of the present specification should not be construed as to the present invention
Limitation.
Claims (9)
1. it is a kind of with VR simulate walking five degree of freedom ankle rehabilitation parallel robot, which is characterized in that including upper mounting plate, in put down
Platform, lower platform, wherein upper mounting plate are connect by three group of first electric pushrod with lower platform, and three group of first electric pushrod two
End is respectively linked in triangle relation with the upper mounting plate and lower platform respectively, and middle platform and lower platform electronic are pushed away by two group second
Bar connects, and two group of second electric pushrod is respectively arranged at the both sides of middle platform and lower platform, first electric pushrod
It is equipped with pressure sensor with the end of the second electric pushrod, the lower platform is embedded with gyroscope and geomagnetic sensor, the pressure
Force snesor, gyroscope and geomagnetic sensor generate VR virtual images by obtaining data.
2. the five degree of freedom ankle rehabilitation parallel robot according to claim 1 for simulating walking with VR, which is characterized in that
The upper mounting plate includes the first fixes sleeve, the first fixed frame, and first fixed frame is electronic by Hooke's hinge and described first
Push rod links, and the junction of Hooke's hinge and the first electric pushrod includes an at least pressure sensor.
3. the five degree of freedom ankle rehabilitation parallel robot according to claim 2 for simulating walking with VR, which is characterized in that
First fixed frame is equipped with horizontally arranged several jacks, the fixed position twisted for changing the Hooke.
4. the five degree of freedom ankle rehabilitation parallel robot according to claim 1 for simulating walking with VR, which is characterized in that
The middle platform includes the second fixes sleeve, the second fixed frame, and second fixed frame is electronic by Hooke's hinge and described second
Push rod links, and the junction of Hooke's hinge and the second electric pushrod includes an at least pressure sensor.
5. the five degree of freedom ankle rehabilitation parallel robot according to claim 4 for simulating walking with VR, which is characterized in that
Second fixes sleeve is made of gas permeable material, is adjusted by fragrant plant button elastic.
6. the five degree of freedom ankle rehabilitation parallel robot according to claim 4 for simulating walking with VR, which is characterized in that
Second fixed frame is equipped with horizontally arranged several jacks, the fixed position twisted for changing the Hooke.
7. the five degree of freedom ankle rehabilitation parallel robot according to claim 1 for simulating walking with VR, which is characterized in that
The lower platform includes vola platform, third fixed frame, flexible foot fixed part, and the vola platform includes plantar toe and foot heel
Portion, the third fixed frame are distributed in plantar toe and foot heel.
8. the five degree of freedom ankle rehabilitation parallel robot according to claim 7 for simulating walking with VR, which is characterized in that
The third fixed frame for being distributed in plantar toe is connected by flexural pivot with first electric pushrod, the foot heel that is distributed in
Third fixed frame is connected by flexural pivot with second electric pushrod.
9. the five degree of freedom ankle rehabilitation parallel robot according to claim 7 for simulating walking with VR, which is characterized in that
It is connected by an extensible member between the plantar toe and foot heel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810317684.6A CN108498285A (en) | 2018-04-10 | 2018-04-10 | A kind of five degree of freedom ankle rehabilitation parallel robot for simulating walking with VR |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810317684.6A CN108498285A (en) | 2018-04-10 | 2018-04-10 | A kind of five degree of freedom ankle rehabilitation parallel robot for simulating walking with VR |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108498285A true CN108498285A (en) | 2018-09-07 |
Family
ID=63381384
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810317684.6A Pending CN108498285A (en) | 2018-04-10 | 2018-04-10 | A kind of five degree of freedom ankle rehabilitation parallel robot for simulating walking with VR |
Country Status (1)
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| CN (1) | CN108498285A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110025452A (en) * | 2019-04-08 | 2019-07-19 | 深圳睿瀚医疗科技有限公司 | A kind of touch feedback ankle joint function training system based on brain-computer interface |
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Effective date of registration: 20181025 Address after: 200000 JT1343, 3 floor, 8 building, 55 Huiyuan Road, Jiading District, Shanghai. Applicant after: Shanghai Laiying Medical Technology Co., Ltd. Address before: 200000 room 7001, 7 story A, 8 yuan Huiyuan Road, No. 55 Huiyuan Road, Jiading industrial district, Jiading District, Shanghai. Applicant before: CHAOWEI (SHANGHAI) ORTHOPAEDICS HOSPITAL MANAGEMENT CO.,LTD. |