CN109200546B - A kind of Medical ankle joint method of rehabilitation and system - Google Patents
A kind of Medical ankle joint method of rehabilitation and system Download PDFInfo
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- CN109200546B CN109200546B CN201710535557.9A CN201710535557A CN109200546B CN 109200546 B CN109200546 B CN 109200546B CN 201710535557 A CN201710535557 A CN 201710535557A CN 109200546 B CN109200546 B CN 109200546B
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- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 61
- 238000000034 method Methods 0.000 title claims abstract description 33
- 210000004233 talus Anatomy 0.000 claims abstract description 68
- 230000033001 locomotion Effects 0.000 claims abstract description 53
- 230000008602 contraction Effects 0.000 claims abstract description 17
- 230000003993 interaction Effects 0.000 claims abstract description 17
- 230000008569 process Effects 0.000 claims abstract description 13
- ZMNSRFNUONFLSP-UHFFFAOYSA-N mephenoxalone Chemical compound COC1=CC=CC=C1OCC1OC(=O)NC1 ZMNSRFNUONFLSP-UHFFFAOYSA-N 0.000 claims description 39
- 229960001030 mephenoxalone Drugs 0.000 claims description 39
- 210000003423 ankle Anatomy 0.000 claims description 18
- 206010044565 Tremor Diseases 0.000 claims description 10
- 230000000694 effects Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 abstract description 2
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- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001769 paralizing effect Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 206010060820 Joint injury Diseases 0.000 description 1
- 208000005137 Joint instability Diseases 0.000 description 1
- 206010028289 Muscle atrophy Diseases 0.000 description 1
- 208000005392 Spasm Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 241000469816 Varus Species 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 208000022542 ankle injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000035876 healing Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000037231 joint health Effects 0.000 description 1
- 210000003041 ligament Anatomy 0.000 description 1
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/08—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs for ankle joints
-
- 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
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/002—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices isometric or isokinetic, i.e. substantial force variation without substantial muscle motion or wherein the speed of the motion is independent of the force applied by the user
- A63B21/0023—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices isometric or isokinetic, i.e. substantial force variation without substantial muscle motion or wherein the speed of the motion is independent of the force applied by the user for isometric exercising, i.e. substantial force variation without substantial muscle motion
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
-
- 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
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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
- 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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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B2023/006—Exercising apparatus specially adapted for particular parts of the body for stretching exercises
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/54—Torque
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- Chemical Kinetics & Catalysis (AREA)
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Abstract
The present invention relates to a kind of Medical ankle joint method of rehabilitation and system, including initiative rehabilitation and passive rehabilitation, the initiative rehabilitation includes the rehabilitation of active power-assisted, active drawing rehabilitation, the rehabilitation of active resistance, active isometric contraction rehabilitation.Host computer connects controller by router, carries out command information with controller and interacts；Controller connects EtherCAT board by PCI104 bus, and EtherCAT board connects driver, makes the file of controller configuration EtherCAT board and driver, and the interaction of information is carried out with driver；Driver is connect with the motor of rehabilitation of anklebone equipment, torque sensor, encoder.The rehabilitation of anklebone system features in convenient built in the present invention is flexible, and system is stablized, and movement instruction transmission speed is fast；What rehabilitation of anklebone process required to realize fully according to the doctor for having many years rehabilitation experience, it is full-featured to meet requirement and rehabilitation efficacy is good.
Description
Technical field
The present invention relates to new services and medical rehabilitation image training robot field, specifically a kind of Medical ankle joint health
Multiple method and system.
Background technique
An important branch of the healing robot as medical robot, its research have run through medical science of recovery therapy, Biological Strength
The numerous areas such as, mechanics, Mechanics of Machinery, electronics, materialogy, computer science and robotics, have become
The research hotspot of international robot field.
The reason for leading to ankle joint function exception mainly includes ankle motion damage and apoplexy.Ankle motion is damaged
Wound is if treatment is not in time or is not thorough, and is easy to cause ligament of ankle joint overrelaxation, joint instability, and Yi Yinqi is sprained repeatedly,
The sequelae such as ankle joint function obstacle are caused, it is serious to will affect walking function.In the case of most ankle injury, by doctor
After the treatment of institute, rehabilitation duration is generally 6-18 months, in the meantime, most people can not normal walking, can significantly feel
To pain, physiotherapy is needed especially at this time to carry out recovering aid treatment (such as foot loosens and massages), it is necessary to by anti-
Multiple incremental training makes impaired ankle-joint rehabilitate.The ankle joint function of paralytic is mainly shown as foot extremely
Varus and drop foot, paralytic if treatment is not in time will fall the lifelong disabilities such as hemiplegia.However, many ankles close now
Section rehabilitation still relies on rehabilitation physical therapy teacher, but with the decline of demographic dividend, the quantity of rehabilitation physical therapy teacher far can not expire
The rehabilitation medical of sufficient patient needs, therefore rehabilitation of anklebone medical robot obtains pursuing for researchers, its success is answered
With also revolutionary variation will be played in the rehabilitation medical field of patient.During actual rehabilitation medical, patient is in health
The safety of wearable ankle-joint equipment, comfort, anti-interference are all required during multiple.In addition, currently on the market
Existing ankle joint rehabilitation training functions of the equipments are simple, to the recovery Shortcomings of ankle motion function, can not achieve automatic
Change continuous reciprocal slowly activity, and improper use easily causes the damage again of ankle-joint, the instrument valence of some hospital clinicals
Lattice are expensive, and professional person is needed to instruct to use, and are unfavorable for family's use.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of Medical ankle joint method of rehabilitation and system, meets patient couple
The convenience of wearable ankle-joint equipment, safety, the requirement of comfort, anti-interference, stability, fully meet doctor and
Demand of the patient to rehabilitation of anklebone functions of the equipments.
Present invention technical solution used for the above purpose is:
A kind of Medical ankle joint method of rehabilitation, including initiative rehabilitation and passive rehabilitation, the initiative rehabilitation include actively helping
Power rehabilitation, active drawing rehabilitation, the rehabilitation of active resistance, active isometric contraction rehabilitation, wherein
Active power-assisted rehabilitation is that rehabilitation of anklebone equipment detects patients target's direction of motion, and provides power-assisted auxiliary patient
Complete movement；
Active drawing rehabilitation is according to the big minor adjustment rehabilitation of anklebone of active motive force of the patient to rehabilitation of anklebone equipment
The rehabilitation course of equipment angle；
Active resistance rehabilitation is the fortune with the passive rehabilitation motion profile that rehabilitation of anklebone equipment is provided according to patient
Move the rehabilitation course that contrary power adjusts rehabilitation of anklebone equipment resistive exercise speed；
Active isometric contraction rehabilitation is the effect that rehabilitation of anklebone equipment applies at the stretch position of setting according to patient
The rehabilitation course of power adjusting rehabilitation of anklebone equipment isometric contraction angle.
The passive rehabilitation is that rehabilitation of anklebone equipment drives patient to do plantar flexion and dorsiflex campaign, forms passive rehabilitation movement
Track, and in the passive recovering aid for moving carry out trembling at maximum position movement and extensional motion.
The rehabilitation of anklebone equipment resistive exercise speed are as follows:
v1=α vd1+β|τ|>ε
Wherein α, β are constant, vdIt is the resistive exercise speed of setting, ε is threshold value, there is filter action, and value range is
0.1-0.4, τ are the torque that patient is applied to rehabilitation of anklebone equipment.
The angle of trembling of the movement of trembling are as follows:
Δθ1=α * (rand (T, n) %2)+β
Wherein, α, β are constants, and the random output 0 or 1 of rand (T, n) %2, wherein T is the frequency trembled, and n is time trembled
Number.
The draw angle of the extensional motion are as follows:
θ1=sleep (θlm+Δθl,t)
Wherein, θlmIt is the plantar flexion of setting or the maximum angle of dorsiflex, Δ θlIt is to be stretched at plantar flexion or dorsiflex maximum angle
Angle value, for guarantee safety, this value is generally smaller, and t is held in the time of stretch position.
The active power-assisted angle of rehabilitation of anklebone equipment in the active power-assisted rehabilitation course are as follows:
The speed of rehabilitation of anklebone equipment assist exercise are as follows:
v2=λ τ+vd2
Wherein, θup, θdown, θcurrentIt is the maximum angle of dorsiflex, plantar flexion maximum angle and current angular, η respectively1, η2Point
Be not setting dorsiflex power-assisted and plantar flexion power-assisted grade point, v be the speed of rehabilitation of anklebone equipment assist exercise, vd2It is ankle-joint
The initial velocity of rehabilitation equipment assist exercise is constant, and λ is constant, and τ is the torque that patient is applied to rehabilitation of anklebone equipment.
Pulling force grade point is set when the active drawing rehabilitation, and angle is actively pulled to be inversely proportional with pulling force grade point:
K=ak+b
Wherein, rank () is rank function, and τ is the torque that patient is applied to rehabilitation of anklebone equipment, θ3Actively to pull
Angle, k are pulling force grade point, and K is stiffness parameters, and a is normal number, and b is constant.
The active force applied according to patient adjusts rehabilitation of anklebone equipment isometric contraction angle are as follows:
If the active force that patient applies is greater than given threshold, the active force that rehabilitation of anklebone equipment applies according to patient
Adjust rehabilitation of anklebone equipment isometric contraction angle；Otherwise rehabilitation of anklebone equipment is maintained at the stretch position currently set.
The rehabilitation of anklebone equipment isometric contraction angle are as follows:
θ4=θd+Δθ2
Wherein, θdIt is the stretch position of setting, Δ θ2It is angular adjustment value, τ is that patient is applied to rehabilitation of anklebone equipment
Torque, M are given thresholds.
It further include drawing before or after initiative rehabilitation and/or passive rehabilitation process torque of ankle and ankle-joint
Hade degree is assessed；
The assessment result of the torque of ankle are as follows:
τe1=max { τ1(t)}
τe2=max { τ2(t)}
Wherein, τ1(t), τ2It (t) is collected patient's ankle-joint power in dorsiflex campaign and plantar flexion motion process respectively
Square；τe1, τe2It is the maximum ankle-joint joint moment of patient's dorsiflex campaign and plantar flexion movement respectively；
The assessment result of the ankle-joint draw angle are as follows:
θe1=max { θ1(t)}
θe2=max { θ2(t)}
Wherein, θ1(t), θ2It (t) is collected patient's ankle motion in dorsiflex campaign and plantar flexion motion process respectively
Angle value；θe1, θe2It is the maximum ankle-joint joint angle angle value of patient's dorsiflex campaign and plantar flexion movement respectively.
A kind of Medical ankle joint rehabilitation system, host computer connect controller by router, carry out instruction letter with controller
Breath interaction；
Controller connects EtherCAT board by PCI104 bus, and EtherCAT board connects driver, makes controller
The file of EtherCAT board and driver is configured, and carries out the interaction of information with driver；
Driver is connect with the motor of rehabilitation of anklebone equipment, torque sensor, encoder.
The invention has the following beneficial effects and advantage:
1. the rehabilitation of anklebone system features in convenient built in the present invention is flexible, system is stablized, movement instruction transmission speed
Degree is fast；
2. rehabilitation of anklebone process of the invention is to require to realize fully according to the doctor for having many years rehabilitation experience, function
Meet requirement comprehensively and rehabilitation efficacy is good；
3. passive rehabilitation process of the invention can assist the absolutely not patient of consciousness or ability to act to do plantar flexion movement
With dorsiflex campaign, and have and tremble and drawing effect, effectively prevents patient muscle's atrophy；
4. active power-assisted rehabilitation course of the invention can assist centainly realizing or the patient of ability to act completes ankle pass
The dorsiflexion and plantarflexion of section moves；
5. active resistive exercise of the invention can help centainly to realize or the patient of ability to act is in dorsiflexion and plantarflexion
In motion process, exercise one's muscles strength；
6. patient's dorsiflexion and plantarflexion that active drawing rehabilitation course of the invention can temper certain consciousness or ability to act
Locomitivity, while patient being helped to restore muscle strength；
7. active isometric contraction rehabilitation course of the invention can help centainly to realize or the patient of ability to act stretches
Gastrocnemius alleviates spasm, while also patient being helped to restore muscle strength；
8. the present invention can parameter real-time, tunable and real-time monitoring to rehabilitation course, completion meets different rehabilitation situations
Patient or the demand in same patient's difference rehabilitation stage；
9. the present invention can assess joint moment and range of motion of the patient after rehabilitation and rehabilitation, effective to help
Doctor and patient hold current rehabilitation situation.
Detailed description of the invention
Fig. 1 is method schematic diagram of the invention；
Fig. 2 is system construction drawing of the invention.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and embodiments.
It is as shown in Figure 1 method schematic diagram of the invention.Including initiative rehabilitation, passive rehabilitation and torque of ankle and stretching
Angle estimator, initiative rehabilitation include the rehabilitation of active power-assisted, active drawing rehabilitation, the rehabilitation of active resistance, active isometric contraction rehabilitation.
Passive rehabilitation process is that rehabilitation of anklebone equipment can drive the ankle of patient to do plantar flexion and dorsiflex campaign, and
It is trembled at the maximum position of plantar flexion and dorsiflex campaign and extensional motion.Doctor or patient can according to the situation of rehabilitation,
When setting the plantar flexion and dorsiflex largest motion range of ankle-joint equipment, movement velocity and entire movement by human-computer interaction interface
Between.The maximum dorsiflex angle of ankle-joint is 60 ° in human-computer interaction interface, and maximum flex angle is 25 °, and speed sets 5 shelves
Position, longest stretching time are 10s, and longest rehabilitation duration is 300s.
It trembles the angle of trembling of movement are as follows:
Δθ1=α * (rand (T, n) %2)+β
Wherein, α, β are constants, and the random output 0 or 1 of rand (T, n) %2, wherein T is the frequency trembled, and n is time trembled
Number.
The draw angle of extensional motion are as follows:
θ1=sleep (θlm+Δθl,t)
Wherein, θlmIt is the plantar flexion of setting or the maximum angle of dorsiflex, Δ θlIt is to be stretched at plantar flexion or dorsiflex maximum angle
Angle value, for guarantee safety, this value is generally smaller, and t is held in the time of stretch position.
Active power-assisted rehabilitation course is the direction that rehabilitation equipment detects that patient wants movement, and it is auxiliary that ankle-joint equipment provides power-assisted
Patient is helped to complete the movement.Doctor or patient can set ankle-joint by human-computer interaction interface and set according to the situation of rehabilitation
Standby plantar flexion and dorsiflex maximum angle, the power-assisted grade of ankle-joint equipment plantar flexion and dorsiflex, rehabilitation equipment receive movement instruction
After carry out rehabilitation exercise, ankle-joint equipment provides power-assisted auxiliary patient and completes the movement.Ankle-joint is maximum in human-computer interaction interface
Dorsiflex angle be 60 °, maximum flex angle be 25 °, power-assisted grade be 9 grades.
The active power-assisted angle of rehabilitation of anklebone equipment in active power-assisted rehabilitation course are as follows:
The speed of rehabilitation of anklebone equipment assist exercise are as follows:
v2=λ τ+vd2
Wherein, θup, θdown, θcurrentIt is the maximum angle of dorsiflex, plantar flexion maximum angle and current angular, η respectively1, η2Point
Be not setting dorsiflex power-assisted and plantar flexion power-assisted grade point, v be the speed of rehabilitation of anklebone equipment assist exercise, vd2It is ankle-joint
The initial velocity of rehabilitation equipment assist exercise is constant, and λ is constant, and τ is the torque that patient is applied to rehabilitation of anklebone equipment.
Active drawing rehabilitation course actively pulls ankle-joint equipment to do plantar flexion and dorsiflex campaign for patient, and with pulling
The increase of angle, the pulling force that patient needs to apply are bigger.Doctor or patient can set pulling force by human-computer interaction interface
Grade, higher grade, and when patient draws to equal angular, required power is bigger.The present invention sets 9 in human-computer interaction interface
A rigidity.
Pulling force grade point is set when active drawing rehabilitation, and angle is actively pulled to be inversely proportional with pulling force grade point:
K=ak+b
Wherein, τ is the torque that patient is applied to rehabilitation of anklebone equipment, θ3Actively to pull angle, k is pulling force grade
Value, K is stiffness parameters, and a is normal number, and b is constant.
Active resistance rehabilitation course is ankle-joint equipment according to by the motion profile movement of dynamic auxiliary, it is desirable that patient is applied to
The resistance in the opposite direction of ankle-joint equipment moving, ankle-joint device rate can reduce and keep constant speed by passive auxiliary track after
Reforwarding is dynamic.Doctor or patient can be fast by the time for the range, movement that human-computer interaction interface set device moves and movement
Degree.The maximum dorsiflex angle of ankle-joint is 60 ° in human-computer interaction interface, and maximum flex angle is 25 °, and speed sets 5 shelves
Position, longest rehabilitation duration are 300s.
Rehabilitation of anklebone equipment resistive exercise speed are as follows:
v1=α vd1+β|τ|>ε
Wherein α, β are constant, v1For rehabilitation of anklebone equipment resistive exercise speed, vd1It is the resistive exercise speed of setting, ε
It is threshold value, there is filter action, value range 0.1-0.4, τ is the torque that patient is applied to rehabilitation of anklebone equipment.
Active isometric contraction rehabilitation course is the dorsiflex that ankle-joint equipment drive patient's ankle reaches doctor or patient set
Extreme position realizes extreme position drawing effect to patient, and patient is required to apply opposite effect power, it is intended to push ankle-joint
Equipment.If the active force that patient applies is greater than given threshold, the active force tune that rehabilitation of anklebone equipment applies according to patient
Save rehabilitation of anklebone equipment isometric contraction angle；Otherwise rehabilitation of anklebone equipment is maintained at the stretch position currently set.Doctor
Or the centrifugation force that patient can be needed by the dorsiflex angle and promotion ankle-joint equipment of human-computer interaction interface set device
Grade.The dorsiflex angle maximum set angle of human-computer interaction interface ankle motion is 65 °, totally 9 grades of centrifugal force grade.
Rehabilitation of anklebone equipment isometric contraction angle are as follows:
θ4=θd+Δθ2
Wherein, θdIt is the stretch position of setting, Δ θ2It is angular adjustment value, τ is that patient is applied to rehabilitation of anklebone equipment
Torque, M are given thresholds.
Rehabilitation of anklebone assessment includes torque of ankle assessment and the assessment of ankle-joint range of stretch.The torque of ankle-joint is assessed
It crosses range request patient actively firmly to go to step on ankle-joint equipment pedal or draw pedal, equipment can read patient and be applied on pedal
Active force, the rehabilitation for patient's later period provides reference.Ankle-joint equipment range of stretch evaluation process requires patient actively
Pull ankle-joint equipment moving to the extreme position of patient, it is patient's later period that equipment, which will record the range of stretch of display patient,
Rehabilitation provides reference.
The result of torque of ankle assessment are as follows:
τe1=max { τ1(t)}
τe2=max { τ2(t)}
Wherein, τ1(t), τ2It (t) is collected patient's ankle-joint power in doing dorsiflex campaign and plantar flexion motion process respectively
Square.τe1, τe2It is that patient's dorsiflex campaign and plantar flexion move maximum ankle-joint joint moment respectively.
The result of ankle-joint range of stretch assessment are as follows:
θe1=max { θ1(t)}
θe2=max { θ2(t)}
Wherein, θ1(t), θ2It (t) is collected patient's ankle-joint fortune in doing dorsiflex campaign and plantar flexion motion process respectively
Dynamic angle value.θe1, θe2It is that patient's dorsiflex campaign and plantar flexion move maximum ankle-joint joint angle angle value respectively.
It is illustrated in figure 2 the structure chart of rehabilitation of anklebone system of the invention.The host computer of rehabilitation system is tablet computer,
Command information is carried out by wireless network communication technology and controller interact, controller by Ethercat communication bus technology and
Driver carries out the interaction of information, and driver is connected with the motor of equipment, torque sensor, encoder.It is packed into and writes in host computer
Good human-computer interaction interface program, is started by browser；It is packed into QNX real time operating system in controller, and builds Web service
Device, while controller is connected by cable with router.Controller is connected by PCI104 bus with Ethercat board, together
When, the file of board and driver is configured, the interaction of information is carried out using Eethercat bussing technique and driver, is finally matched
The file of set driver and motor facilitates driver to send motor movement instructions.
Claims (10)
1. a kind of Medical ankle joint method of rehabilitation, including initiative rehabilitation and passive rehabilitation, it is characterised in that: the initiative rehabilitation packet
Include the rehabilitation of active power-assisted, active drawing rehabilitation, the rehabilitation of active resistance, active isometric contraction rehabilitation, wherein
Active power-assisted rehabilitation is that rehabilitation of anklebone equipment detects patients target's direction of motion, and provides power-assisted auxiliary patient and complete
Movement；
Active drawing rehabilitation is according to the big minor adjustment rehabilitation of anklebone equipment of active motive force of the patient to rehabilitation of anklebone equipment
The rehabilitation course of angle；
Active resistance rehabilitation is the movement side with the passive rehabilitation motion profile that rehabilitation of anklebone equipment is provided according to patient
The rehabilitation course of rehabilitation of anklebone equipment resistive exercise speed is adjusted to opposite power；
Active isometric contraction rehabilitation is the active force tune that rehabilitation of anklebone equipment applies at the stretch position of setting according to patient
Save the rehabilitation course of rehabilitation of anklebone equipment isometric contraction angle；
The passive rehabilitation is that rehabilitation of anklebone equipment drives patient to do plantar flexion and dorsiflex campaign, forms passive rehabilitation and moves rail
Mark, and in the passive recovering aid for moving carry out trembling at maximum position movement and extensional motion.
2. Medical ankle joint method of rehabilitation according to claim 1, it is characterised in that: the rehabilitation of anklebone equipment resistance
Movement velocity are as follows:
v1=α vd1+ β | τ | > ε
Wherein α, β are constant, vd1It is the resistive exercise speed of setting, ε is threshold value, and value range 0.1-0.4, τ are that patient applies
Add to the torque of rehabilitation of anklebone equipment.
3. Medical ankle joint method of rehabilitation according to claim 1, it is characterised in that: the angle of trembling of the movement of trembling
Are as follows:
Δθ1=α * (rand (T, n) %2)+β
Wherein, α, β are constants, and the random output 0 or 1 of rand (T, n) %2, wherein T is the frequency trembled, and n is the number to tremble.
4. Medical ankle joint method of rehabilitation according to claim 1, it is characterised in that: the draw angle of the extensional motion
Are as follows:
θ1=sleep (θlm+Δθl,t)
Wherein, θlmIt is the plantar flexion of setting or the maximum angle of dorsiflex, Δ θlIt is the angle stretched at plantar flexion or dorsiflex maximum angle
Angle value, t are held in the time of stretch position.
5. Medical ankle joint method of rehabilitation according to claim 1, it is characterised in that: in the active power-assisted rehabilitation course
The active power-assisted angle of rehabilitation of anklebone equipment are as follows:
The speed of rehabilitation of anklebone equipment assist exercise are as follows:
v2=λ τ+vd2
Wherein, θup, θdown, θcurrentIt is the maximum angle of dorsiflex, plantar flexion maximum angle and current angular, η respectively1, η2It is respectively
The dorsiflex power-assisted and plantar flexion power-assisted grade point of setting, v is the speed of rehabilitation of anklebone equipment assist exercise, vd2It is rehabilitation of anklebone
The initial velocity of equipment assist exercise, λ are constants, and τ is the torque that patient is applied to rehabilitation of anklebone equipment.
6. Medical ankle joint method of rehabilitation according to claim 1, it is characterised in that: set when the active drawing rehabilitation
Pulling force grade point actively pulls angle to be inversely proportional with pulling force grade point:
K=ak+b
Wherein, rank () is rank function, and τ is the torque that patient is applied to rehabilitation of anklebone equipment, θ3Actively to pull angle,
K is pulling force grade point, and K is stiffness parameters, and a is normal number, and b is constant.
7. Medical ankle joint method of rehabilitation according to claim 1, it is characterised in that: the effect applied according to patient
Power adjusts rehabilitation of anklebone equipment isometric contraction angle are as follows:
If the active force that patient applies is greater than given threshold, rehabilitation of anklebone equipment is adjusted according to the active force that patient applies
Rehabilitation of anklebone equipment isometric contraction angle；Otherwise rehabilitation of anklebone equipment is maintained at the stretch position currently set.
8. Medical ankle joint method of rehabilitation according to claim 7, it is characterised in that: the rehabilitation of anklebone equipment is isometric
Converging angles are as follows:
θ4=θd+Δθ2
Wherein, θdIt is the stretch position of setting, Δ θ2It is angular adjustment value, τ is the power that patient is applied to rehabilitation of anklebone equipment
Square, M are given thresholds.
9. Medical ankle joint method of rehabilitation according to claim 1, it is characterised in that: further include in initiative rehabilitation and/or
Torque of ankle and ankle-joint draw angle are assessed before or after passive rehabilitation process；
The assessment result of the torque of ankle are as follows:
τe1=max { τ1(t)}
τe2=max { τ2(t)}
Wherein, τ1(t), τ2It (t) is collected patient's torque of ankle in dorsiflex campaign and plantar flexion motion process respectively；τe1,
τe2It is the maximum ankle-joint joint moment of patient's dorsiflex campaign and plantar flexion movement respectively；
The assessment result of the ankle-joint draw angle are as follows:
θe1=max { θ1(t)}
θe2=max { θ2(t)}
Wherein, θ1(t), θ2(t) be respectively collected patient's ankle motion in dorsiflex campaign and plantar flexion motion process angle
Angle value；θe1, θe2It is the maximum ankle-joint joint angle angle value of patient's dorsiflex campaign and plantar flexion movement respectively.
10. a kind of rehabilitation system of the method for any one according to claim 1~9, it is characterised in that: host computer passes through routing
Device connects controller, carries out command information with controller and interacts；
Controller connects EtherCAT board by PCI104 bus, and EtherCAT board connects driver, configures controller
The file of EtherCAT board and driver, and the interaction with driver progress information；
Driver is connect with the motor of rehabilitation of anklebone equipment, torque sensor, encoder.
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| CN103041546A (en) * | 2013-01-15 | 2013-04-17 | 哈尔滨工程大学 | Active and passive type ankle joint rehabilitative apparatus |
| CA2883293A1 (en) * | 2012-08-27 | 2014-03-06 | Anthony Mack | Device for strengthening, improving range of motion, improving flexibility in ankle joints and rehabilitating injured ankle joints |
| JP2014068659A (en) * | 2012-09-27 | 2014-04-21 | Panasonic Corp | Exercise assisting device |
| CN205108257U (en) * | 2015-07-26 | 2016-03-30 | 广东铭凯医疗机器人有限公司 | Ankle joint rehabilitation trainer |
| CN205759455U (en) * | 2016-07-11 | 2016-12-07 | 刘长春 | Ankle joint dorsiflexion of foot stretcher |
| CN205796395U (en) * | 2016-07-18 | 2016-12-14 | 罗俊波 | Machine for training synthetic force of anklebone |
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| CA2883293A1 (en) * | 2012-08-27 | 2014-03-06 | Anthony Mack | Device for strengthening, improving range of motion, improving flexibility in ankle joints and rehabilitating injured ankle joints |
| JP2014068659A (en) * | 2012-09-27 | 2014-04-21 | Panasonic Corp | Exercise assisting device |
| CN103041546A (en) * | 2013-01-15 | 2013-04-17 | 哈尔滨工程大学 | Active and passive type ankle joint rehabilitative apparatus |
| CN205108257U (en) * | 2015-07-26 | 2016-03-30 | 广东铭凯医疗机器人有限公司 | Ankle joint rehabilitation trainer |
| CN205759455U (en) * | 2016-07-11 | 2016-12-07 | 刘长春 | Ankle joint dorsiflexion of foot stretcher |
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