CN110237501A - Ankle-joint trains adapter, rehabilitation training equipment and its Training Control method - Google Patents
Ankle-joint trains adapter, rehabilitation training equipment and its Training Control method Download PDFInfo
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- CN110237501A CN110237501A CN201810821052.3A CN201810821052A CN110237501A CN 110237501 A CN110237501 A CN 110237501A CN 201810821052 A CN201810821052 A CN 201810821052A CN 110237501 A CN110237501 A CN 110237501A
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- 210000002683 foot Anatomy 0.000 claims abstract description 65
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- 238000005516 engineering process Methods 0.000 description 5
- 210000003423 ankle Anatomy 0.000 description 4
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- 229960001030 mephenoxalone Drugs 0.000 description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 3
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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
- 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
-
- 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
-
- 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
- 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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- 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
-
- 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
- A61H2201/5058—Sensors or detectors
-
- 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
- A61H2201/5058—Sensors or detectors
- A61H2201/5064—Position sensors
-
- 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
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
-
- A—HUMAN NECESSITIES
- 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
- A63B2220/18—Inclination, slope or curvature
-
- 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
- A63B2220/80—Special sensors, transducers or devices therefor
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2230/00—Measuring physiological parameters of the user
- A63B2230/60—Measuring physiological parameters of the user muscle strain, i.e. measured on the user
- A63B2230/605—Measuring physiological parameters of the user muscle strain, i.e. measured on the user used as a control parameter for the apparatus
Landscapes
- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biophysics (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention discloses a kind of ankle-joint training adapter, ankle-joint training equipment and its Training Control method, and ankle-joint training adapter includes foot's adapter and motion control host.Foot's adapter includes adjuster, ankle-joint location regulating mechanism, pedal and the foot's fixing piece being arranged on pedal, and ankle-joint location regulating mechanism one end is connect with adjuster, the other end and pedal connect.Motion control host includes driving device and control module, and driving device includes motor and is connected to the motor the retarder connect, and adjuster connect the output shaft relative to retarder with retarder and can rotate, and control module is connected to motor.Control module includes Angle Position change detection module, current of electric change detection module and mode selection module.The present invention can effectively assist patient to carry out joint exercise, promote muscle strength, improve range of motion, and stiff joint is loosened in drawing-off.
Description
Technical field
The present invention relates to medical instruments fields more particularly to a kind of ankle-joint training adapter, ankle joint rehabilitation training to set
Standby and its Training Control method.
Background technique
In public exercise rehabilitation training field, cerebral apoplexy, multiple sclerosis, spinal cord injury, brain paralysis influence millions of people's
Life.For the patient that most of nervous function is damaged, dyskinesia is often increased with limb spasm related, and physiotherapy is existing
The main means of stage rehabilitation training, but the status of existing training technique has many limitations.
In traditional stretching treatment, stretching, auxiliary and other physics intervention gimmick is can be used to mitigate in physiotherapist
The spasm and contracture of patient limb restore balance, harmony and joint and the motor function of limbs of patient.However, passing
System is caused high effort for by the stretching of physics gimmick, and general therapeutic teacher needs arduously to be stretched the four limbs of patient's spasm with hand；
Meanwhile the intensity stretched by hand depends on the experience and subjective feeling of therapist.
In inducing active movement training, if patient is due to that cannot generate without physiotherapist or the auxiliary of equipment
The active limb of continuous-stable moves, so being difficult to attempt by the movement of itself to reach and restore extremity motor function completely
Purpose.Further, since shortage knowledge of rehabilitation or over training, patient may during attempting to carry out autonomous limb motion
Potentially aggravate degree of injury.
Due to the shortage of therapist's resource, patient cannot get the exercise rehabilitation training of sufficient amount, so as to cause short-term health
Refreshment effect of doing exercises cannot maintain long time.
Traditional passive drawing training device (CPM, continuous passive motion) is widely used in hospital
In the family of patient.CPM is mainly provided in the joint microinching in the fixed range pre-established, to prevent from gluing after kan setsu waza
Even, anchylosis is reduced.Its technology limitation is that CPM machine is between two preset articulated positions with slower constant
The mobile limbs of speed or joint.Although system can provide very big stretch force moment, in entire drawing process, due to it
The limitation of mechanical structure cannot detect the resistance that suffering limb is generated due to spasm, so preset motion range usually less than closes
The range of flexible motion is saved, otherwise the danger of joint injury will increase.It is passive to pull function usually not under this function restriction
It can be stretched to the higher position of limited Muscle tensility, and this physiological location exactly contracture and spasm most visibility point,
It is to really need physiological location that is with high safety and effectively stretching.Due to lacking the detection to human synovial resistance, so traditional
Continuous passive drawing training aids cannot be used for the rehabilitation of the dyskinesia due to caused by neurotrosis.
In recent years, another kind of active assisted class training equipment was used to help improve based on multi-freedom robot product
Control and neural rehabilitation of the patient to the active movement of limbs after cerebral apoplexy and other neurotrosises.But from Point of View of Clinical
It sees, for patient's (such as cerebral apoplexy, brain paralysis etc.) with high Muscle tensility/limb spasm, it is necessary to consider Muscle tensility variation or flesh
Group's spasm problem could implement suitable autonomous synkinesia and train, but to train equipment often to ignore such for existing assisted class
Pathological characters directly implement supplemental training to patient, do not solve the prerequisite function of Muscle tensility variation or muscle group spasm, Ci Zhongmo
The problem of formula is likely to result in patient during supplemental training, high Muscle tensility/limb spasm more deteriorates.
In addition, some training experiment platform robots, the resistance generated by suffering limb spasm or active can be accurately measured
Movement tendency, but the realization for being limited in that entire function and control of its technology is depended on to additional Cont rol Method of Precise Force/moment sensing
The use of device.So structure determines that the cost of whole system increases, price is prohibitively expensive, be not suitable in grass-roots community and
Family widely uses.And due to the difference of structure composition, device can only provide active-assistive exercise training function, same
On device, the passive drawing with larger output torque cannot be realized simultaneously, ignore controlling for active/passive training combination
Assessment after treatment mode and training.
It is domestic that commercialized product, similar product mainly include walking training bed, foot-operated self vehicle type training aids and CPM instrument
Forms such as (continuity passive movement device for rehabilitation).Foot-operated self vehicle type training aids is suitable for the initiative and passivity of upper and lower limb
Training.The product is trained by the initiative of upper limb and lower limb and passivity is trained, and gradually improves blood circulation, increases suffering limb flesh
Power and endurance keep the flexibility of muscle, reduce Muscle tensility.It is simple to be mainly characterized by function, staff is facilitated to operate；It is suitable
Close many and meanwhile use and monitoring management.KLW-SKF intelligent rehabilitation training system is furnished with safeguard measure simultaneously, and patient used
Once spasm occurs in journey, machine will start intelligent counter motion mode, to alleviate spasm symptom.Although having actively and passively
Mode, but due to the limitation of Design of Mechanical Structure and movement control technology, it is only possible to produce the connection of repeated " stepping on bicycle type "
Close limb motion；To the limb spasm problem of brain injury patients, targeted flexibility of joint drawing-off cannot be provided.Such product
Provided training mode is confined to basic Exercycle motor pattern, is suitble to improve cardiopulmonary ability and keeps basic exercise
Ability, but improve limb spasm problem for alleviating, it is very limited.
Summary of the invention
In view of problems of the prior art, present invention firstly provides a kind of ankle-joint training adapters, at least
Partly solve the deficiencies in the prior art.
Ankle-joint training adapter provided by the invention includes foot's adapter and motion control host.Foot's adapter
Including adjuster, ankle-joint location regulating mechanism, pedal and the foot's fixing piece being arranged on the pedal, the ankle-joint position
Set that regulating mechanism one end is connect with the adjuster, the other end is connect with the pedal.Motion control host includes driving device
And control module, the driving device include motor and the retarder that is connected with the motor, the adjuster subtracts with described
Fast device connection can be rotated relative to the output shaft of the retarder, and the control module is connect with the motor；Wherein, the control
Molding block includes Angle Position change detection module, current of electric change detection module and mode selection module, Angle Position variation
The Angle Position that the active movement that detection module is used to detect suffering limb drives the adjuster to move synchronously and generates changes；Motor electricity
Stream change detection module is used to detect the curent change in the motor driven that suffering limb generates adjuster application torque；Mould
Formula selecting module is separately connected with the Angle Position change detection module and the current of electric change detection module, according to institute
State Angle Position variation and/or curent change selection using proper drag mode, stretch mode, auxiliary and resistance mode or
Induce active movement mode.
Preferably, the ankle-joint location regulating mechanism is to be existed by a first connecting rod and one second connecting rod interconnection
Right-angled intersection connecting rod together.
Preferably, the first connecting rod and the crossover location of second connecting rod can be adjusted, and the pedal can
It is connected on one end far from the crossover location of the first connecting rod to adjustment, the adjuster is connected to described second
On one end far from the crossover location of connecting rod.
Preferably, in second connecting rod along its length on be provided with adjusting sliding slot, the first connecting rod
Being set in the length direction in second connecting rod along the first connecting rod can slide, and set on the first connecting rod
It is equipped with the location hole passed through for positioning and locking part corresponding with sliding slot with the adjusting.
Preferably, the pedal is connect by a pedal fixing piece with the first connecting rod, the pedal fixing piece energy
Enough adjustment ground is arranged on the first connecting rod, and the adjustment direction of the pedal fixing piece is up and down direction.
Preferably, the position-limit mechanism of limit electric machine rotary motion, institute are provided between the adjuster and the retarder
Stating position-limit mechanism includes limiting slot and limited block, and the limiting slot and limited block are being arranged in the adjuster with the retarder
On opposite end face, the retarder the and described adjuster is provided with rolling corresponding with the limiting slot on opposite end face
Son.
Preferably, foot's fixing piece has shoes shape；Or, foot's fixing piece includes instep fixing belt and foot
With limiting band, the instep fixing belt and heel limit band are all set up directly on the pedal.
The present invention further provides a kind of ankle joint rehabilitation training equipment, including the sliding bottom with sliding rail, height adjustment
Mechanism, above-mentioned ankle-joint training adapter, display device and rotatably trained seat.Height adjustment mechanism is mounted on described
On sliding bottom.Ankle-joint training adapter is mounted on the height adjustment mechanism.Display device is adjustable by screen mount
It is supported in the top of the motion control host.The relatively described ankle-joint training is arranged on the sliding rail in rotary training seat
Adapter position-adjustable.
Preferably, the rotary trained seat includes seat body, seat body backing board and seat riser, the seat
Chair body is mounted on the upper end of the seat riser by the seat body backing board.
Preferably, the seat riser includes lifting driving hydraulic cylinder, telescopic prop and foot-operated control stick, institute
It states telescopic prop to be connected with the lifting driving hydraulic cylinder, the foot-operated control stick is connected with the lifting driving hydraulic cylinder.
Preferably, lifting driving hydraulic cylinder is arranged on seat plate, and the seat plate passes through seat position locking piece
It is locked on the guide rail.
Preferably, the rotary trained seat further includes thigh support device, and the thigh support device includes:
Knee torch, the knee torch include length-adjustable telescopic supporting rod, described telescopic supporting rod one end and the seat
Chair body backing board is pivotably connected；And
Leg disk is held in the palm, the support leg disk is pivotably connected to one end far from the knee torch of the telescopic supporting rod.
Preferably, the support leg disk includes the foot hold for being used to support patient's foot and the foot being arranged on the foot hold
Fixing belt.
Preferably, thigh bandage is provided in the seat body.
Preferably, the sliding bottom is locked on the guide rail by position of host machine locking piece, the position of host machine lock
Determine part be located at the sliding bottom back on the side of the rotary trained seat.
Preferably, the sliding rail includes the first sliding rail and the second sliding rail, and first sliding rail and second sliding rail dock
At T-shaped slide rail.
Ankle joint rehabilitation training is carried out using above-mentioned ankle joint rehabilitation training equipment the present invention further provides a kind of
Control method, comprising:
Proper drag scheme control: the active movement of the Angle Position change detection module detection suffering limb drives the foot
The Angle Position that adapter is moved synchronously and generated changes, and the mode selection module becomes according to Angle Position described in the unit time
Change, control motor driven is generated along current control amount identical with the Angle Position change direction, and mechanical resistance is overcome to drive
Motor drives foot's adapter to move along direction identical with the suffering limb direction of motion；
Stretch mode control: the current of electric change detection module detection applies foot's adapter due to suffering limb
Torque and the curent change in the motor driven that generates, the mode selection module adjust motor rotation speed according to curent change
It is used to stretch suffering limb muscle with the velocity of rotation and range that adjust the suffering limb with range；
Auxiliary and resistance mode control: the Angle Position that the Angle Position change detection module detects foot's adapter becomes
Change, the mode selection module changes according to the Angle Position, calculates required auxiliary force identical with the suffering limb direction of motion
Or the size of the resistance opposite with the suffering limb direction of motion, apply the auxiliary to control the motor to foot's adapter
Power or resistance, so that the suffering limb carries out supplemental training or resistance exercise；
Induce active movement scheme control: the Angle Position change detection module detection is since suffering limb is adapted to the foot
Device applies torque and the curent change that generates, and the mode selection module is calculated by the detected curent change because suffering from
The autokinetic movement of limb and the moment variations generated control the motor driven when the moment variations are less than a certain particular value
To drive suffering limb to do exemplary passive movement, and the movement of limbs is fed back to patient in a manner of vision or the sense of hearing, then
It allows patient to do autokinetic movement, and the moment variations after change ratio is fed back into patient.
The design of present invention combination foot's adapter and motion control host can effectively assist patient to carry out joint forging
Refining, muscle strength improve range of motion, and stiff joint is loosened in drawing-off；In addition, due to according to Angle Position variation and curent change
The variation of Muscle tensility is monitored, implements flexible adaptive drawing-off treatment, that is, dynamic monitoring joint kinematic parameter is guaranteeing safety
On the basis of validity, the strength that can be accurately regulated the speed to greatest extent with drawing-off range of motion is economical and practical, structure is simple
It is single.Patient can be facilitated cosily to use in own home, increase training for treatment frequency, shorten recovery period.Compared to pervious instruction
Practice equipment, the present invention can cut down the volume, weight and manufacturing cost of rehabilitation training system significantly, and patient can at home and work as
Ground clinic uses inexpensive training equipment；For Patients with Acute, patient can also be during early stage bed rehabilitation, and obtaining must
The convenient rehabilitation training wanted.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present invention, and of the invention shows
Examples and descriptions thereof are used to explain the present invention for meaning property, does not constitute improper limitations of the present invention.
Fig. 1 is the overall schematic of ankle joint rehabilitation training equipment of the invention；
Fig. 2 is the structural schematic diagram that ankle joint rehabilitation training equipment of the invention removes rotary training seat；
Fig. 3 is two kinds of emergent stopping schematic diagrames of ankle joint rehabilitation training equipment of the invention；
Fig. 4 is the signal that position of host machine locking piece is arranged on the sliding bottom of ankle joint rehabilitation training equipment of the invention
Figure；
Fig. 5 A, 5B, 5C, 5D, 5E are the schematic diagram of foot's adapter of ankle-joint of the present invention training adapter；
Fig. 6 is the structural block diagram of the control module of ankle-joint of the present invention training adapter；
Fig. 7 A, 7B are the sliding schematic diagram of ankle joint rehabilitation training equipment of the invention；
Fig. 8 A is the overall schematic (looking up from another party) of ankle joint rehabilitation training equipment of the invention；
Fig. 8 B is the seat rotary stopper schematic diagram of ankle joint rehabilitation training equipment of the invention；
Fig. 9 is the partial schematic diagram of ankle joint rehabilitation training equipment of the invention；
Figure 10 is the partial schematic diagram of the rotary trained seat of ankle joint rehabilitation training equipment of the invention；
Figure 11 is the overall schematic of ankle joint rehabilitation training equipment of the invention (in terms of other direction)；
Figure 12 is the bending knee regulating allocation structural schematic diagram (side view) of ankle joint rehabilitation training equipment of the invention；
Figure 13 is the straight knee regulating allocation structural schematic diagram (side view) of ankle joint rehabilitation training equipment of the invention.
Specific embodiment
In order to enable the object, technical solutions and advantages of the present invention become apparent, root is described in detail below with reference to accompanying drawings
According to example embodiments of the present invention.Obviously, described embodiment is only a part of the embodiments of the present invention, rather than this hair
Bright whole embodiments, it should be appreciated that the present invention is not limited by example embodiment described herein.Based on described in the present invention
The embodiment of the present invention, those skilled in the art's obtained all other embodiment in the case where not making the creative labor
It should all fall under the scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The term of the orientation or positional relationship of instructions such as "horizontal", "inner", "outside", " preceding " and " rear " is to close relative to standing in the ankle
For the surrounding observer or patient that save rehabilitation training equipment, it is merely for convenience of description of the present invention and simplification of the description, without
It is that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore not
It can be interpreted as limitation of the present invention.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For electricity and the communications field, it can be wired connection, be also possible to be wirelessly connected.For
For those skilled in the art, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
As shown in Figure 1, the present invention provides a kind of ankle joint rehabilitation training equipment, including the sliding bottom 800 with sliding rail,
Height adjustment mechanism 300, ankle-joint training adapter 1000, display device 400 and rotary training seat 500.Height is adjusted
Section mechanism 300 is mounted on sliding bottom 800.Ankle-joint training adapter 1000 is mounted on height adjustment mechanism 300.Display
Device 400 is by screen mount adjustable supports in the top of the motion control host of ankle-joint training adapter.Rotary training
Opposite ankle-joint training adapter position-adjustable is arranged on sliding rail 600 in seat 500.Sliding bottom 800 passes through position of host machine
Locking piece (sliding block 302 hereinafter referred to) is locked on sliding rail 600, and position of host machine locking piece is located at sliding bottom 800
Back on the side of rotary training seat 500.Sliding rail 600 includes the first sliding rail 601 and the second sliding rail 602, the first sliding rail 601
T-shaped slide rail is butted into the second sliding rail 602.
Specifically, referring to Fig. 1, ankle-joint training adapter 1000 includes foot's adapter 100 and motion control host.Fortune
Dynamic control host includes driving device 200 and control module 700.
In conjunction with refering to 2, motion control main machine structure schematic diagram.Sliding bottom 800 includes pedestal 307 and T-shaped slide rail 600, T
The pedestal 307 is arranged in the shoulder of type sliding rail 600, lifting column 301 is equipped on the base, on the lifting column 301
The motion control host is set, as previously mentioned, motion control host mainly has the control module 700 and the driving device
200.On the pedestal 307, the back side opposite with seat is disposed with the sliding block 302 of host adjusting, lifting column power supply
Switch 303, main power socket 304, nameplate 305 and hand-held emergency stop switch 306.It is arranged in the driving device 200
Have emergency stop switch 201A and hand-held emergency switch 201B, emergency stop switch 201A and hand-held emergency switch 201B and
Hand-held emergency stop switch effect 306 noted earlier is identical.Design has 204 sum number of input port on the back side opposite with user
According to connection serial ports 205.
As shown in figure 3, being the partial, detailed view of two kinds of emergency stop switch.It shows emergency stop switch 201A and holds
Formula emergency switch 201B, the two effect is identical, and the latter is to provide for patient conveniently.
As shown in figure 4, system host has the sliding block 302 that can be locked, it, can be according to left and right based on the setting of sliding rail 600
Leg position adjusts the position of host machine, to obtain the rehabilitation training of left lower extremity or right lower extremity.The sliding block 302 is unclamped, it is described
Device Host can horizontally slip on the sliding rail, facilitate equipment mobile.
In conjunction with refering to Fig. 5 A- Fig. 5 E, retarder 202A and motor 202B, foot's adapter are equipped with inside driving device 200
100 connect with retarder 202A, and rotatable as axis using A-A central axis.
It is the driving device internal structure chart with connecting rod as shown in Fig. 5 A, 5B, 5C.Include inside driving device 200
Retarder 202A and motor 202B is connect by screw with foot adapter in the front of retarder.Before Fig. 5 B shows motor
Retarder before position-limit mechanism 140.For example, the position-limit mechanism 140 is adjusted, with described when patient is trained
Foot's adapter adjusts to adjust the angle of the pedal, reaches the training effect of different foot's ankle-joints.Fig. 5 C is driving
The perspective view of device.
In a specific embodiment, foot's adapter 100 includes adjuster 102, pedal 101 and foot's fixing piece.It steps on
Plate 101 is used to provide support to the foot of patient.Pedal 101 is adjusted under the driving of driving device 200 by ankle-joint location
Mechanism 104 is rotatable around axis.Foot's fixing piece is on pedal 101, for the foot of patient to be fixed on pedal 101.Specific
In embodiment, foot's fixing piece may include 105 He of instep fixing belt for being fixed on left foot (or right crus of diaphragm) on pedal 101
Heel limits band 106.Instep fixing belt 105 can be used for instep that is fixed and constraining patient, prevent the foot of patient from pedal
It falls off on 101.Heel limit band 106 can be used for constraining and limiting the heel of patient, avoid the heel of patient in the mistake used
It is slid on Cheng Zhongcong pedal 101.Alternatively it is also possible to which the knot being integrated is arranged in instep fixing belt 105 and heel limit band 106
Configuration formula.In addition, foot's fixing piece also can have other structures, such as similar to the structure of shoes, as long as can be by patient
Foot be fixed on pedal 101.104 one end of ankle-joint location regulating mechanism connect with the adjuster 102, the other end with
The pedal 101 connects.Ankle-joint location regulating mechanism 104 is to be handed over by a first connecting rod 1041 and one second connecting rod 1042
Pitch the right-angled intersection connecting rod to link together.First connecting rod and the crossover location of second connecting rod can be adjusted, institute
Stating pedal 101 can be connected on one end far from the crossover location of the first connecting rod 1041 with adjusting, the tune
Section device 102 is connected on one end far from the crossover location of second connecting rod 1042.Edge in second connecting rod 1042
Adjusting sliding slot 10421 is provided on its length direction, first connecting rod 1041 is set in the second connecting rod 1042 along first
The length direction of connecting rod 1041 can slide, and be provided on first connecting rod 1041 corresponding with adjusting sliding slot 10421
The location hole 10411 passed through for positioning and locking part 107.Pedal 101 passes through a pedal fixing piece 103 and first connecting rod 1041
Connection, pedal fixing piece 103 can be arranged on first connecting rod 1041 with adjusting, and the adjustment direction of pedal fixing piece 103
For up and down direction.Refering to Fig. 5 B and Fig. 5 C, the limit of limit electric machine rotary motion is provided between adjuster 102 and retarder 202A
Position mechanism 140, position-limit mechanism 140 include limiting slot 141 and limited block 142, and limiting slot 141 and the setting of limited block 142 are being adjusted
On the end face opposite with retarder 202A of device 102, it is provided with and limits on the end face opposite with adjuster 102 of retarder 202A
The position corresponding roller 2021 of slot 141.
In conjunction with refering to Fig. 6, control module 700 includes Angle Position change detection module 710, current of electric change detection module
720 and mode selection module 730, the active movement that Angle Position change detection module 710 is used to detect suffering limb drives the tune
The Angle Position that section device is moved synchronously and generated changes；Current of electric change detection module 720 applies adjuster for detecting suffering limb
Reinforcing square and the curent change in the motor driven that generates；Mode selection module 730 and Angle Position change detection module 710 and electricity
Machine curent change detection module 720 is separately connected, solid to be used according to Angle Position variation and/or curent change selection
There are resistance mode, stretch mode, auxiliary and resistance mode or induces active movement mode.
Specifically, referring again to Fig. 1, under passive exercise mode, the driving device 200 drives the foot to be adapted to
Device 100 moves, and then the foot of patient is driven to be trained ankle-joint；Under active training mode, the driving device 200
It does not work, foot's adapter movement is driven by the autokinetic movement of patient, so that patient feet's ankle-joint be made to be trained.
Preferably, in patient after passive exercise after a period of time, detection can select active training after reaching requirement again.
Such as Fig. 7 A, shown in 7B, the top view of apparatus of the present invention shows the different conditions of left and right leg training.Present invention dress
Setting can be according to left ankle-joint or the training of right ankle-joint.For example, shifting the motion control host onto opposing rotary training seat
Left thigh or right thigh are placed on thigh support device when needing left or right ankle-joint training by the appropriate location of chair 500
On, huckle stretches, and left foot portion or right foot part are placed on pedal, and then adjusting slider locks sliding rail.
In conjunction with refering to shown in Fig. 8 A to Figure 10, showing the main component of rotary training seat 500: seat body 510, seat
Chair body backing board 511, seat riser 512 and movable armrest 503, seat body 510 pass through seat body backing board 511
It is mounted on the upper end of seat riser 512, thigh bandage 502 is provided in seat body 510.Seat riser 512 includes
Go up and down driving hydraulic cylinder 509, telescopic prop 508 and foot-operated control stick 505, telescopic prop 508 and lifting driving hydraulic cylinder
509 are connected, and foot-operated control stick 505 is connected with lifting driving hydraulic cylinder 509.Driving hydraulic cylinder 509 is gone up and down to be arranged in seat bottom
On plate 513, seat plate 513 is locked on guide rail 600 by seat position locking piece 507.The rotary trained seat 500
It further include thigh support device 501, thigh support device 501 includes knee torch 5011 and support leg disk 5012, and knee torch 5011 wraps
Length-adjustable telescopic supporting rod is included, telescopic supporting rod one end is pivotably connected with seat body backing board 511.Hold in the palm leg disk 5012
It is pivotably connected to one end of the separate knee torch 5011 of telescopic supporting rod.Support leg disk 5012 includes being used to support patient's foot
Foot hold 50121 and the foot's fixing belt 50122 being arranged on foot hold 50121.
For example, the armrest 503 and the chair back are all adjustable in order to facilitate patient.In order to patient sit it is reliable,
The seat body 510 has upper part of the body bandage 504 and thigh bandage 502.The thigh support device 501 that the present invention is arranged, with
Seat can be connected to pivot by connecting rod, be used to support the thigh of patient.Term " thigh " in the present invention refers to knee joint or more
Position between thigh root, accordingly it is also possible to which thigh support device is known as thigh support device.Thigh support device
501 in the motion process of foot's adapter 100, and the thigh of patient can be made to be properly supported always.Fig. 8 B is instruction
Practice seat rotary stopper internal structure chart.
As shown in figure 9, the partial schematic diagram of thigh support device, the connection type for showing thigh support device adjusts rotation
Button 501A, length knob 501B, adjusting knob 501C.For example, pressing adjusting knob 501A, rotating shaft will after patient takes a seat
Patient thigh holds up, and stretches degree according to patient is kneed, adjusts rotational angle, after adjusting to proper angle, decontrols and adjusts
Knob is saved to fasten 501 position of knee torch；The knob 501B in the middle part of support frame is unclamped and adjusts, it is small with patient according to height of seat
Leg length is adjusted along the direction of leg, and adjusting finishes tightening knob 501B；It unclamps and holder for regulating leg spirals button 501C, according to
The actual conditions of different patients carry out gradient adjusting appropriate；It adjusts comfortably to support patient's shank as principle.
If Figure 10 shows the internal structure of seat riser 512, lifting driving hydraulic cylinder 509 is passive foot-operated liter
Oil cylinder drops, and lifting driving hydraulic cylinder 509 connects four telescopic props 508.The passive Pedals type lifting oil cylinder is safe and reliable,
It is easy to use.Adding four telescopic props 508 is the stability in order to enhance the seat 500.Leg support in Figure 10
Rotating part A, leg support pars contractilis B and leg support support rod rotating part C have enlarged drawing.It asks leg disk 5012 rotatable, passes through knob A1
Realize limit；Knee torch 5011 is scalable, adjusts to after target length, passes through rotation B1 knob locking；Press " button C1 " support
Leg support 5011 can realize the selection of up and down direction, lock after release button.
As shown in figure 11, display device 400 can be used to various data (including the foot motion of display control unit 700
Data and various other information).In conjunction with Fig. 1, display device 400 may include display screen 401 and/or image projecting equipment
(projector) support rod 402, the projection device support rod 402 are arranged in behind the control module 700 of main body control mechanism, seat
500 opposite of chair, facilitates patient to watch.Preferably, by that the upper of main body control mechanism can be arranged in the support rod of 360 degree rotation
Rear portion.Preferably, display screen 401 can be touch screen, and have both the function of the input unit of control device.
As shown in Figures 12 and 13, by adjust seat 500 front-rear position and high and low position, it is adjustable it is kneed
Bending angle in ankle-joint training process, while the adjustable rotation angle of thigh support device 501 and length support shank
Lower section, to be suitble to different knee flexion angles.That is, this structure can be user in the item of different knee joint fixed angles
Under part, implement the ankle-joint training of different modes.
In a specific embodiment, as shown in Figure 8 A, movable armrest 503 is lifted, patient is allowed to be sitting in seat body
On 510, the shank of patient is placed on thigh support device 501, to front/rear adjustment bracket, it is ensured that the leg of patient is straight, seat
Upper part of the body bandage 504 on chair is used for fixing human upper body, and the armrest 503 can be with up and down adjustment.Under the seat
Thigh support device 501 can front and back adjust and pitch regulation, it is lockable after adjusting, unclamp sliding block counterclockwise, seat 500 exists
It can be slid back and forth on sliding rail 600, according to the length of different patient's legs, moved seat 500 arrives appropriate location forwards, backwards.It has adjusted
Finish locking sliding block.By jamming on foot-operated control stick 505 repeatedly, the telescopic prop 508 (such as Figure 10) under seat is adjusted, according to trouble
The height of person adjusts chair to suitable height.The seat can rotate, and unclamp rotation set lever D1 first (as schemed
8B), after rotating to certain angle, set lever D1 is unclamped.Back can need pitch tune according to patient
Section, when adjusting, first press the handle of chair side, push the handle of locking side after backrest to certain angle.The chair band
There are safety belt and thigh bandage can be fixed on the seat by the upper body of patient and thigh, it is not easy to shake.The armrest
Tilt angle can be needed to adjust according to patient, tighten then fix armrest positions clockwise, then unclamp handrail fastening counterclockwise
Position.
Under control model, activity point of view can be set the present invention, can set 3 location parameters: ankle-joint respectively
Activity zero point, maximum dorsiflex, maximum plantar flexion.Drawing-off can be arranged according to the actual conditions of patient's ankle-joint in the drawing-off intensity
The maximum dorsiflex of ankle-joint and maximum plantar flexion data.The training device is for the setting range of maximum dorsiflex of ankle-joint
0~25 degree, the setting range of maximum plantar flexion is 0~45 degree.
Control module 700 of the invention by monitoring limbs resistance or Muscle tensility variation, can with soft readjustment pull intensity,
Speed and motion range, to safely and effectively reduce Muscle tensility, alleviation and inhibit spasm.Effective ankle-joint back can be provided
/ curvature movement guidance is bent, induces ankle-joint autokinetic movement, tone up the muscles strength.
The present invention also provides it is a kind of using above-mentioned apparatus carry out ankle joint rehabilitation training method, the method includes
Following steps: following one or more modes are needed to be implemented according to suffering limb training: 1) the proper drag mode of bucking-out system.At this
In mode, the active movement of the Angle Position change detection module detection suffering limb drives foot's adapter to move synchronously and produce
Raw Angle Position variation, the mode selection module change according to Angle Position described in the unit time, and control motor driven generates
Along current control amount identical with the Angle Position change direction, mechanical resistance driving motor is overcome to drive foot's adaptation
Device is moved along direction identical with the suffering limb direction of motion, so that suffering limb carries out free movement.2) stretch mode.In the mode
In, the current of electric change detection module detection is driven due to the motor that suffering limb applies torque to foot's adapter and generates
Curent change in dynamic, the curent change that will test is by low-pass filtering to obtain smooth numerical value, the model selection mould
Root tuber adjusts motor rotation speed and range according to curent change to adjust the velocity of rotation of the suffering limb and range for stretching and suffer from
Limb muscle.3) auxiliary and draught control mode.In this mode, the Angle Position change detection module detects foot's adaptation
The Angle Position of device changes, and the mode selection module changes according to the Angle Position, calculates required with the suffering limb direction of motion
The size of identical auxiliary force or the resistance opposite with the suffering limb direction of motion, to control the motor to foot's adapter
Apply the auxiliary force or resistance, so that the suffering limb carries out supplemental training or resistance exercise.4) active movement mode is induced.?
In the mode, the Angle Position change detection module detection is due to the electricity that suffering limb applies torque to foot's adapter and generates
Rheology, the mode selection module is calculated by the detected curent change to be generated because of the autokinetic movement of suffering limb
Moment variations control the motor driven when the moment variations are less than a particular value to drive suffering limb to make exemplary quilt
Dynamic movement, and the movement of limbs is fed back to patient in a manner of vision or the sense of hearing, then allow patient to do autokinetic movement, and will change
Moment variations after control with changed scale feed back to patient.
Beneficial effects of the present invention are as follows:
1. this product can pull intensity, speed and movement with soft readjustment by monitoring limbs resistance or Muscle tensility variation
Range, to safely and effectively reduce Muscle tensility, alleviation and inhibit spasm.
2. realizing the flexible isotonic drawing of ankle dorsal flexion extreme position under the premise of guaranteeing limbs safety, increasing joint
Scope of activities.
3. this product focuses on " drop foot " problem in rehabilitation, effective ankle dorsal flexion/curvature movement guidance is provided, ankle is induced
Joint autokinetic movement, tone up the muscles strength.
4. the training of a variety of ankle-joint strengthening coolings can be achieved at the same time: free resistanceless motion, auxiliary and resistive exercise, soft
Property drawing-off, interactive game induce active movement mode.
5. stressing the induction of active movement and the new paragon of perception, intelligent sound guidance and interaction, entertaining acrognosis are provided
Know game interaction.
6. utilizing new control system patented technology, core component cost is greatly reduced, for the following household and community rehabilitation
Feasible equipment solution is provided.
Although describing example embodiment by reference to attached drawing here, it should be understood that above example embodiment are only exemplary
, and be not intended to limit the scope of the invention to this.Those of ordinary skill in the art can carry out various changes wherein
And modification, it is made without departing from the scope of the present invention and spiritual.All such changes and modifications are intended to be included in appended claims
Within required the scope of the present invention.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that implementation of the invention
Example can be practiced without these specific details.In some instances, well known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this specification.
Similarly, it should be understood that in order to simplify the present invention and help to understand one in each inventive aspect or at least two
A, in the description to exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the method for the invention should not be construed to reflect an intention that i.e. required
Protection the present invention claims features more more than feature expressly recited in each claim.More precisely, such as phase
As the claims answered reflect, inventive point is that all spies less than some disclosed single embodiment can be used
The feature of sign solves corresponding technical problem.Therefore, it then follows thus claims of specific embodiment are expressly incorporated in
The specific embodiment, wherein each, the claims themselves are regarded as separate embodiments of the invention.
It will be understood to those skilled in the art that any combination pair can be used other than mutually exclusive between feature
All features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so disclosed any method
Or all processes or device of equipment are combined.Unless expressly stated otherwise, this specification (is wanted including adjoint right
Ask, make a summary and attached drawing) disclosed in each feature can be replaced with an alternative feature that provides the same, equivalent, or similar purpose.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included certain features rather than other feature, but the combination of the feature of different embodiments mean it is of the invention
Within the scope of and form different embodiments.For example, in detail in the claims, embodiment claimed it is one of any
Can in any combination mode come using.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and ability
Field technique personnel can be designed alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference symbol between parentheses should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not
Element or step listed in the claims.Word "a" or "an" located in front of the element do not exclude the presence of at least two this
The element of sample.The present invention can by means of include several different elements hardware and by means of properly programmed computer come
It realizes.If several in these devices can be through the same hardware in the device claim for listing equipment for drying
It embodies.The use of word first, second, and third does not indicate any sequence.These words can be construed to
Title.
The above description is merely a specific embodiment or to the explanation of specific embodiment, protection of the invention
Range is not limited thereto, and anyone skilled in the art in the technical scope disclosed by the present invention, can be easily
Expect change or replacement, should be covered by the protection scope of the present invention.Protection scope of the present invention should be with claim
Subject to protection scope.
Claims (10)
1. a kind of ankle-joint training adapter characterized by comprising
Foot's adapter, foot's adapter include that adjuster, ankle-joint location regulating mechanism, pedal and setting are stepped on described
Foot's fixing piece on plate, ankle-joint location regulating mechanism one end connect with the adjuster, the other end and the pedal
Connection；And
Motion control host, the motion control host include driving device and control module, and the driving device includes motor
The retarder being connected with the motor, the adjuster connect the output shaft energy of the relatively described retarder with the retarder
Enough rotations, the control module are connect with the motor；
Wherein, the control module includes:
Angle Position change detection module, the active movement for detecting suffering limb drive the adjuster to move synchronously and the angle that generates
Change in location；
Current of electric change detection module, for detecting in the motor driven that suffering limb generates adjuster application torque
Curent change；And
Mode selection module is separately connected with the Angle Position change detection module and the current of electric change detection module,
To use proper drag mode, stretch mode, auxiliary and resistance according to Angle Position variation and/or curent change selection
Mode induces active movement mode.
2. ankle-joint according to claim 1 training adapter, which is characterized in that the ankle-joint location regulating mechanism is
By the right-angled intersection connecting rod of a first connecting rod and one second connecting rod interconnection together.
3. ankle-joint training adapter according to claim 2, which is characterized in that the first connecting rod and described second
The crossover location of connecting rod can be adjusted, and the pedal can be connected to the separate intersection of the first connecting rod with adjusting
On one end of position, the adjuster is connected on one end far from the crossover location of second connecting rod.
4. ankle-joint training adapter according to claim 3, which is characterized in that in second connecting rod along its length
Adjusting sliding slot is provided on direction, the first connecting rod is set in second connecting rod along the first connecting rod
Length direction can slide, and be provided on the first connecting rod corresponding with the adjusting sliding slot for positioning and locking part
The location hole passed through.
5. ankle-joint training adapter according to claim 4, which is characterized in that the pedal passes through a pedal fixing piece
It is connect with the first connecting rod, the pedal fixing piece can be arranged on the first connecting rod with adjusting, and described step on
The adjustment direction of plate fixing piece is up and down direction.
6. ankle-joint according to claim 1 training adapter, which is characterized in that the adjuster and the retarder it
Between be provided with the position-limit mechanism of limit electric machine rotary motion, the position-limit mechanism includes limiting slot and limited block, the limiting slot
Be arranged on the end face opposite with the retarder of the adjuster with limited block, the retarder with the adjuster phase
Pair end face on be provided with roller corresponding with the limiting slot.
7. ankle-joint training adapter according to claim 1, which is characterized in that foot's fixing piece has shoes shape
Shape；Or, foot's fixing piece includes instep fixing belt and heel limit band, the instep fixing belt and the heel limit band
All it is set up directly on the pedal.
8. a kind of ankle joint rehabilitation training equipment characterized by comprising
Sliding bottom with sliding rail；
Height adjustment mechanism, the height adjustment mechanism are mounted on the sliding bottom；
Ankle-joint training adapter as described in any one of claim 1-7, the ankle-joint training adapter are mounted on
On the height adjustment mechanism；
Display device, the display device is by screen mount adjustable supports in the top of the motion control host；And
The relatively described ankle-joint training adapter position-adjustable is arranged on the sliding rail in rotary training seat.
9. ankle joint rehabilitation training equipment according to claim 8, which is characterized in that the rotary trained seat includes
Seat body, seat body backing board and seat riser, the seat body are mounted on the seat by the seat body backing board
The upper end of chair elevating mechanism.
10. a kind of carry out rehabilitation of anklebone instruction using the ankle joint rehabilitation training equipment as described in any one of claim 8-9
Experienced control method characterized by comprising
Proper drag scheme control: the active movement of the Angle Position change detection module detection suffering limb drives foot's adaptation
The Angle Position that device is moved synchronously and generated changes, and the mode selection module changes according to Angle Position described in the unit time, controls
Motor driven processed is generated along current control amount identical with the Angle Position change direction, overcomes mechanical resistance driving motor band
Foot's adapter is moved to move along direction identical with the suffering limb direction of motion；
Stretch mode control: the current of electric change detection module detection applies torque to foot's adapter due to suffering limb
And the curent change in the motor driven generated, the mode selection module adjust motor rotation speed and model according to curent change
It encloses to adjust the velocity of rotation of the suffering limb and range for stretching suffering limb muscle；
Auxiliary and resistance mode control: the Angle Position change detection module detects the Angle Position variation of foot's adapter,
The mode selection module changes according to the Angle Position, calculate required auxiliary force identical with the suffering limb direction of motion or
The size of the resistance opposite with the suffering limb direction of motion, with control the motor to foot's adapter apply the auxiliary force or
Resistance, so that the suffering limb carries out supplemental training or resistance exercise；
Induce active movement scheme control: the Angle Position change detection module detection is since suffering limb applies foot's adapter
The curent change for reinforcing square and generating, the mode selection module are calculated by the detected curent change because of suffering limb
Autokinetic movement and the moment variations generated, control the motor driven when the moment variations are less than a particular value to drive
Suffering limb does exemplary passive movement, and the movement of limbs is fed back to patient in a manner of vision or the sense of hearing, then allows patient
Autokinetic movement is done, and the moment variations after change ratio are fed back into patient.
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|---|---|---|---|
| CN2018101952630 | 2018-03-09 | ||
| CN201810195263 | 2018-03-09 |
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| CN201810821052.3A Active CN110237501B (en) | 2018-03-09 | 2018-07-24 | Ankle joint training adapter and rehabilitation training device |
| CN201821177180.0U Active CN208799724U (en) | 2018-03-09 | 2018-07-24 | Ankle-joint training adapter and ankle joint rehabilitation training equipment |
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| CN111991186A (en) * | 2020-09-02 | 2020-11-27 | 湖南财经工业职业技术学院 | Training device for ankle sprain-prevention exercise and sprain rehabilitation |
| CN113081665A (en) * | 2021-03-22 | 2021-07-09 | 上海交通大学 | Exercise-assisted rehabilitation device |
| CN113230086A (en) * | 2021-04-21 | 2021-08-10 | 广州中医药大学(广州中医药研究院) | Prevent osteoporosis's exercise device |
| CN113521662A (en) * | 2021-07-08 | 2021-10-22 | 重庆厚米科技有限公司 | Shank rehabilitation device for orthopedics |
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| CN113749612B (en) * | 2020-06-02 | 2024-03-26 | 北京清华长庚医院 | Ankle joint evaluation device, apparatus, system, method, and storage medium |
| CN113827439B (en) * | 2020-06-08 | 2023-09-12 | 陈佑相 | ankle machine |
| CN113827439A (en) * | 2020-06-08 | 2021-12-24 | 陈佑相 | Ankle Machine |
| CN113797497B (en) * | 2020-06-17 | 2022-06-10 | 北京清华长庚医院 | Forearm joint training device, equipment, system, method and storage medium |
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| CN113230086B (en) * | 2021-04-21 | 2022-02-22 | 广州中医药大学(广州中医药研究院) | Prevent osteoporosis's exercise device |
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| CN113876316B (en) * | 2021-09-16 | 2023-10-10 | 河南翔宇医疗设备股份有限公司 | System, method, device, equipment and medium for detecting abnormal lower limb flexion and extension activities |
| CN113876474A (en) * | 2021-09-22 | 2022-01-04 | 复旦大学 | Modular power artificial limb |
| CN113876474B (en) * | 2021-09-22 | 2024-01-30 | 复旦大学 | Modularized power artificial limb |
| CN114903734A (en) * | 2022-04-19 | 2022-08-16 | 湖南环境生物职业技术学院 | A kind of home-type ankle joint auxiliary exercise device and using method |
| CN115228053B (en) * | 2022-07-04 | 2023-04-25 | 暨南大学附属第一医院（广州华侨医院） | Ankle postoperative lateral muscle group training device |
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| CN208799724U (en) | 2019-04-30 |
| CN110237501B (en) | 2024-04-02 |
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