CN110393895A - Knee joint trains adapter, rehabilitation training equipment and its Training Control method - Google Patents
Knee joint trains adapter, rehabilitation training equipment and its Training Control method Download PDFInfo
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- CN110393895A CN110393895A CN201810947902.4A CN201810947902A CN110393895A CN 110393895 A CN110393895 A CN 110393895A CN 201810947902 A CN201810947902 A CN 201810947902A CN 110393895 A CN110393895 A CN 110393895A
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- knee joint
- adapter
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- sliding
- adjuster
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- 238000012549 training Methods 0.000 title claims abstract description 80
- 210000000629 knee joint Anatomy 0.000 title claims abstract description 78
- 238000000034 method Methods 0.000 title claims abstract description 18
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- 238000001514 detection method Methods 0.000 claims abstract description 38
- 210000003205 muscle Anatomy 0.000 claims abstract description 20
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- 238000011084 recovery Methods 0.000 claims description 2
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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
- A61H1/024—Knee
-
- 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
- A63B23/0494—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs primarily by articulating the knee 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
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- 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
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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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
- A61H2205/102—Knee
-
- 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
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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
- A63B2220/80—Special sensors, transducers or devices therefor
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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
- 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
Abstract
The present invention discloses a kind of knee joint training adapter, knee-joint rehabilitation training equipment and its Training Control method, and knee joint training adapter includes knee joint adapter and motion control host.Knee joint adapter includes that adjuster, position adjusting mechanism, shank fixing piece and ankle fixing piece, shank fixing piece and ankle fixing piece are connect by position adjusting mechanism with adjuster.Motion control host includes driving motor and control module, and adjuster is connect by a transmission mechanism with driving motor, and control module is connect with driving 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 knee joint training adapter, knee-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 upper limb trainer and (the continuity passive movement rehabilitation of CPM instrument
Device) etc. forms.Foot-operated self vehicle type training aids is suitable for the initiative and passivity training of upper limb.The product passes through upper limb and master
Dynamic property is trained and passivity is trained, and gradually improves blood circulation, increases suffering limb muscular strength and endurance, keeps the flexibility of muscle, drops
Low Muscle tensility.It is simple to be mainly characterized by function, staff is facilitated to operate；Be suitble to many and meanwhile use and monitoring management.
Intelligent rehabilitation training system is furnished with safeguard measure simultaneously, spasm once occurs in patient's use process, it is anti-that machine will start intelligence
To motor pattern, to alleviate spasm symptom.Although there is actively and passively mode, due to Design of Mechanical Structure and motion control
The limitation of technology is only possible to produce the joint limb motion of repeatability；To the limb spasm problem of brain injury patients, cannot provide
Targeted flexibility of joint drawing-off.Training mode provided by such product is confined to basic body building mode, is suitble to
Improve cardiopulmonary ability and keep basic exercise ability, but improves 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 knee joint training adapters, at least
Partly solve the deficiencies in the prior art.
Knee joint training adapter provided by the invention, comprising:
Knee joint adapter, the knee joint adapter include adjuster, position adjusting mechanism, shank fixing piece and ankle
Fixing piece, the shank fixing piece and the ankle fixing piece are connect by the position adjusting mechanism with the adjuster；With
And
Motion control host, the motion control host include driving motor and control module, and the adjuster passes through one
Transmission mechanism is connect with the driving motor, and the control module is connect with the driving 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 generate
Angle Position variation；
Current of electric change detection module, the motor driven that torque is applied to the adjuster and is generated for detecting suffering limb
In curent change；And
Mode selection module connects respectively with the Angle Position change detection module and the current of electric change detection module
Connect, with according to the Angle Position variation and/or the curent change selection using proper drag mode, stretch mode, auxiliary and
Resistance mode induces active movement mode.
Preferably, the position adjusting mechanism includes the first sliding block, the second sliding block and guide rail, the guide rail and the adjusting
Device is fixedly connected, and first sliding block is slidably matched with the guide rail, and second sliding block is slidably matched with the guide rail, described
For shank fixing piece by a regulating mechanism and the adjustable connection of the first sliding block, the ankle fixing piece and second sliding block are solid
Fixed connection.
Preferably, the regulating mechanism is a sliding rail, and the shank fixing piece is fixed on the sliding rail, and described first is sliding
Block has first sliding groove and second sliding slot, and the first sliding groove and the guide rail cooperate, and the second sliding slot is matched with the sliding rail
It closes.
Preferably, the first sliding groove has the first glide direction, and the second sliding slot has the second glide direction, described
First glide direction is mutually perpendicular to second glide direction.
Preferably, the guide rail has length direction, and first glide direction is consistent with the length direction of the guide rail.
Preferably, the transmission mechanism includes transmission case body and is arranged in the intracorporal synchronous belt drive mechanism of transmission case, institute
Synchronous belt drive mechanism is stated with driven pulley, the adjuster is connect with the driven pulley, and the adjuster is with described
The central axis of driven pulley is that axis can rotate.
Preferably, the adjuster includes briquetting and position-limit mechanism, and the briquetting is fixedly connected with the driven pulley, and
There is the fluting matched with the guide rail, the position-limit mechanism includes limit shifting block and position-arresting disk, the limit on the briquetting
Position disk is fixedly connected with the transmission case body, and limiting slot is provided on the position-arresting disk, the limit shifting block with it is described
The axle portion and matched from the axle portion is outstanding with the limiting slot that driven pulley connection can be rotated with the driven pulley
Limiting section.
The present invention further provides a kind of knee-joint rehabilitation training equipment, the sliding bottom including belt track, height adjustment
Mechanism, above-mentioned knee joint training adapter, display device and rotatably trained seat.Height adjustment mechanism is mounted on described
On sliding bottom.Knee 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 knee joint training is arranged on the sliding rail in rotary training seat
Adapter position-adjustable.
Preferably, the track includes the first track and the second track, first track and second orbital docking
At T-shaped slide rail.
Knee-joint rehabilitation training is carried out using above-mentioned knee-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 knee to close
The Angle Position that section 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 the knee joint adapter to move along direction identical with the suffering limb direction of motion；
Stretch mode control: the current of electric change detection module detection is since suffering limb is to the preceding shoulder joint adapter
Apply torque and the curent change in the motor driven that generates, the mode selection module adjusts motor according to curent change and rotates
Speed and range are used to stretch suffering limb muscle with the velocity of rotation and range that adjust the suffering limb；
Auxiliary and resistance mode control: the Angle Position change detection module detects the Angle Position of the knee joint adapter
Variation, the mode selection module change according to the Angle Position, calculate required auxiliary identical with the suffering limb direction of motion
The size of power or the resistance opposite with the suffering limb direction of motion, to control the motor to described in knee joint adapter application
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 is suitable to the knee joint
Orchestration applies torque and the curent change that generates, the mode selection module by the detected curent change calculate because
The autokinetic movement of suffering limb and the moment variations generated control the motor when the moment variations are less than a certain particular value and drive
It moves 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, with
After allow patient to do autokinetic movement, and the moment variations after change ratio are fed back into patient.
The design of present invention combination knee joint 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.
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 the knee-joint rehabilitation training equipment of one embodiment of the invention；
Fig. 2 is the structural block diagram of the control module of knee joint of the present invention training adapter；
Fig. 3 is the structural schematic diagram of the knee joint adapter in Fig. 1；
Fig. 4 is the decomposition diagram of the knee joint adapter in Fig. 1；
Fig. 5 is the decomposition diagram (looking up from another party) of the knee joint adapter in Fig. 1.
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 knee
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 knee-joint rehabilitation training equipment, the sliding bottom 800 including belt track,
Height adjustment mechanism 300, knee joint training adapter 1000, display device 400 and rotary training seat 500.Height is adjusted
Section mechanism 300 is mounted on sliding bottom 800.Knee joint training adapter 1000 is mounted on height adjustment mechanism 300.Display
Device 400 is by screen mount adjustable supports in the motion control host (can hereinafter introduce) of knee joint training adapter
Top.Opposite knee joint training adapter position-adjustable is arranged on track 600 in rotary training seat 500.Sliding bottom
800 are locked on track 600, and 600 position of relative orbit is adjustable.Track 600 includes the first track 601 and the second track 602,
First track 601 and the second track 602 are butted into T-shaped slide rail, and sliding bottom 800 is slidably matched with the first track 601, rotatably
Training seat 500 is slidably matched with the second rail 602.
Based on the setting of the first track 601, left and right leg can be trained respectively, for example, motion control host is pushed away
To appropriate location, when needing left or right knee joint training, left leg or right leg are placed on knee joint training adapter
On 1000, and appropriate sitting posture when training is maintained, then locks the first track 601；Based on the setting of the second track 602,
Can be according to the length of different patient's legs, accordingly forward/rear movable and rotary type training seat 500 arrives appropriate location.
Display device 400 can be used to show various data (including knee exercise data and various other information), show
Showing device 400 may include display screen and/or image projecting equipment (projector) support rod, the projection device support rod setting
Behind motion control host, rotary training 500 opposite of seat facilitates patient to watch.Preferably, by that can be revolved with 360 degree
The upper rear portion of motion control host is arranged in the support rod turned.Preferably, display screen can be touch screen, and have both control device
Input unit function.
Specifically, referring again to Fig. 1, knee joint training adapter 1000 includes knee joint adapter 100 and movement control
Host processed.Motion control host includes driving motor 200 and control module 700.
In conjunction with refering to 2, 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 knee joint
The Angle Position that adapter 100 is moved synchronously and generated changes；Current of electric change detection module 720 closes knee for detecting suffering limb
Section adapter 100 applies torque and the curent change in the motor driven that generates；Mode selection module 730 and Angle Position variation are examined
It surveys module 710 and current of electric change detection module 720 is separately connected, according to Angle Position variation and/or the electric current
Variation selection is using proper drag mode, stretch mode, auxiliary and resistance mode or induces active movement mode.
Specifically, referring again to Fig. 1, under passive exercise mode, the driving motor 200 drives the knee joint suitable
Orchestration 100 moves, and then the knee joint of patient is driven to be trained；Under active training mode, by the autokinetic movement of patient
The knee joint adapter 100 is driven to move, so that patient's knee joint be made to be trained.Preferably, when patient passes through one section
Between after passive exercise, detection can select active training after reaching requirement again.
In conjunction with refering to shown in Fig. 3 and Fig. 4, for the structure chart of the knee joint adapter 100 of the embodiment of the present invention, knee joint is suitable
Orchestration 100 includes adjuster 110, position adjusting mechanism 120, shank fixing piece 130 and ankle fixing piece 140, shank fixing piece
130 and ankle fixing piece 140 connect with adjuster 110 by position adjusting mechanism 120, adjuster 110 passes through a transmission mechanism
900 connect with driving motor 200, and control module 700 is connect with driving motor 200.
Illustratively, position adjusting mechanism 120 includes the first sliding block 121, the second sliding block 122 and guide rail 123, guide rail 123
It is fixedly connected with adjuster 110, the first sliding block 121 is slidably matched with guide rail 123, and the second sliding block 122 is matched with the sliding of guide rail 123
It closes, shank fixing piece 130 is slided by a regulating mechanism 150 and the adjustable connection of the first sliding block 121, ankle fixing piece 140 and second
Block 122 is fixedly connected.
Preferably, regulating mechanism 150 is a sliding rail, shank fixing piece 130 is fixed on sliding rail 150, the first sliding block 121 tool
There are first sliding groove 1211 and second sliding slot 1212, first sliding groove 1211 and guide rail 123 cooperate, second sliding slot 1212 and sliding rail 150
Cooperation.First sliding groove 1211 have the first glide direction, second sliding slot 1212 have the second glide direction, the first glide direction with
Second glide direction is mutually perpendicular to.In the embodiment that Fig. 4 is provided, guide rail 123 has length direction, the first glide direction and guide rail
Length direction it is consistent.Based on the setting, shank fixing piece 130 goes up position-adjustable along its length on guide rail 123, and
It can also slided perpendicular to rail length direction；Ankle fixing piece 140 can also be moved along rail length direction, so as to adjust
Save different positions.
Shank fixing piece 130 includes fixing axle 131 and the shank cotton-dipping wheel 132 being set in fixing axle 131, fixing axle
131 are fixedly connected by a fixed block 133 with sliding rail 150.Since sliding rail 150 passes through second sliding slot 1212 and the first sliding block 121
It is slidably connected, so that shank fixing piece 130 is perpendicular to rail length direction position-adjustable.
Ankle fixing piece 140 includes fixing axle 141 and the ankle cotton-dipping wheel 142 being set in fixing axle 141, fixing axle
141 are fixedly connected with the second sliding block 122.Since the second sliding block 122 is slidably connected with guide rail 123, so that ankle fixing piece
140 is adjustable in 123 lengthwise location of guide rail.
Preferably, shank cotton-dipping wheel 132 and ankle cotton-dipping wheel 142 all have knee shape, to play fixed knee.
Illustratively, transmission mechanism 900 is synchronous belt drive mechanism, and synchronous belt drive mechanism 900 includes the first drive shell
901, the second drive shell 903, driven pulley 902, driving pulley and tensioning wheel (unmarked in driving pulley and tensioning wheel figure), the
One drive shell 901 and the second drive shell 903 are interlocked to form transmission case body, and driven pulley 902 is arranged in transmission case body, adjust
Device 110 is connect with driven pulley 902, and adjuster 110 can be rotated by axis of the central axis of driven pulley 902.
Preferably, in conjunction with refering to Fig. 5, adjuster 110 includes briquetting 111 and position-limit mechanism 1120, briquetting 111 and driven belt
Wheel 902 is fixedly connected, and has the fluting 1111 matched with guide rail 123 on briquetting 111, and position-limit mechanism 1120 includes that limit is dialled
Block 1121 and position-arresting disk 1122, position-arresting disk 1122 are fixedly connected with transmission case body, and are provided with limiting slot on position-arresting disk 1122
11221, limit shifting block 1121 has that connect with driven pulley 902 can be with the axle portion 11211 of the rotation of driven pulley 902 and from axis
The limiting section 11212 outstanding matched with limiting slot 11221 of portion 11211.Driven pulley 902 can by main body wheel 9021, in
Heart wheel 9022 and breast wheel 9023 assemble, and transmission belt is wound around on main body wheel 9021, and centre wheel 9022 and briquetting 111 are fixed
Connection, and exempt from the installation of key axis between axle portion 11211.Setting based on position-limit mechanism 1120 can reach limit effect, due to limit
Position disk 1122 is fixed, and limit shifting block 1121 can be rotated in the case where shank fixing piece 130 and/or ankle fixing piece 140 drive, and works as limit
When shifting block 1121 is turned in 11221 one side wall of limiting slot of position-arresting disk 1122, limit is generated.
Under control model, activity point of view can be set the present invention, can set 2 location parameters: knee joint respectively
The flexion angle of maximum extension ability, the flexion angle of maximum flexion ability.The drawing-off intensity can be closed according to patient's knee
The flexion angle of the actual conditions setting drawing-off knee joint maximum extension ability of section, the flexion angle data of maximum flexion ability.
The training device is 5 °~95 ° for the flexion angle setting range of kneed maximum extension ability, maximum flexion energy
The flexion angle setting range of power is 5 °~95 °.
Control module of the invention can pull intensity, speed by monitoring limbs resistance or Muscle tensility variation with soft readjustment
Degree and motion range, to safely and effectively reduce Muscle tensility, alleviation and inhibit spasm.Can provide effective knee extension/
Curvature movement guidance, induces knee joint autokinetic movement, tone up the muscles strength.
It should be noted that stretching, extension refers to that movement shank makes shank, knee, thigh is close to the movement on straight line；
Buckling refers to movable knee, makes shank and thigh at the movement of angle.
The present invention also provides a kind of methods for carrying out knee-joint rehabilitation training using above-mentioned apparatus, and the method includes following
Step: following one or more modes are needed to be implemented according to suffering limb training: 1) the proper drag mode of bucking-out system.In the mode
In, the active movement of the Angle Position change detection module detection suffering limb drives the knee joint adapter to move synchronously and generate
Angle Position variation, the mode selection module change according to Angle Position described in the unit time, control motor driven generation edge
Current control amount identical with the Angle Position change direction, overcome mechanical resistance driving motor to drive knee joint 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 due to the motor that suffering limb applies torque to the knee joint adapter and generates
Curent change in driving, the curent change that will test is by low-pass filtering to obtain smooth numerical value, the model selection
Module adjusts motor rotation speed and range according to curent change to adjust the velocity of rotation of the suffering limb and range for stretching
Suffering limb muscle.3) auxiliary and draught control mode.In this mode, the Angle Position change detection module detects the knee joint
The Angle Position of adapter changes, and the mode selection module change according to the Angle Position, calculates required with suffering limb movement
The size of the identical auxiliary force in direction or the resistance opposite with the suffering limb direction of motion, to control the motor to the knee joint
Adapter applies the auxiliary force or resistance, so that the suffering limb carries out supplemental training or resistance exercise.4) active movement is induced
Mode.In this mode, the Angle Position change detection module detection is since suffering limb is to knee joint adapter application torque
And the curent change generated, the mode selection module are calculated the autonomous fortune because of suffering limb by the detected curent change
Dynamic and generation moment variations, control the motor driven when the moment variations are less than a 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 allow patient to do independently
Movement, and the moment variations after change ratio are fed back into 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 knee extension extreme position under the premise of guaranteeing limbs safety, increasing joint
Scope of activities.
3. this product carries out appropriate muscle/ligament to trainer for kneed recovery training in clinic
The stretching of length inhibits spasm, prevents the contracture of joint, the joint motion of patient is made to be maintained and be improved.
4. a variety of knee joint strengthening cooling training: free resistanceless motion, auxiliary and resistive exercise, quilt can be achieved at the same time
Dynamic 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 knee joint training adapter characterized by comprising
Knee joint adapter, the knee joint adapter include adjuster, and position adjusting mechanism, shank fixing piece and ankle are fixed
Part, the shank fixing piece and the ankle fixing piece are connect by the position adjusting mechanism with the adjuster；And
Motion control host, the motion control host include driving motor and control module, and the adjuster passes through a transmission
Mechanism is connect with the driving motor, and the control module is connect with the driving 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. knee joint training adapter according to claim 1, which is characterized in that the position adjusting mechanism includes first
Sliding block, the second sliding block and guide rail, the guide rail are fixedly connected with the adjuster, and first sliding block is matched with guide rail sliding
It closes, second sliding block is slidably matched with the guide rail, and the shank fixing piece passes through a regulating mechanism and first sliding block
Adjustable connection, the ankle fixing piece are fixedly connected with second sliding block.
3. knee joint training adapter according to claim 2, which is characterized in that the regulating mechanism is a sliding rail, institute
It states shank fixing piece to be fixed on the sliding rail, first sliding block has first sliding groove and second sliding slot, the first sliding groove
Cooperate with the guide rail, the second sliding slot and the sliding rail cooperate.
4. knee joint training adapter according to claim 3, which is characterized in that the first sliding groove has the first sliding
Direction, the second sliding slot have the second glide direction, and first glide direction is mutually perpendicular to second glide direction.
5. knee joint training adapter according to claim 4, which is characterized in that the guide rail has length direction, institute
It is consistent with the length direction of the guide rail to state the first glide direction.
6. the training of knee joint described in any one of -5 adapter according to claim 1, which is characterized in that the transmission mechanism
Including transmission case body and setting in the intracorporal synchronous belt drive mechanism of transmission case, the synchronous belt drive mechanism has driven belt
Wheel, the adjuster is connect with the driven pulley, and the adjuster can as axis using the central axis of the driven pulley
Rotation.
7. knee joint training adapter according to claim 6, which is characterized in that the adjuster includes briquetting and limit
Mechanism, the briquetting are fixedly connected with the driven pulley, and have the fluting matched with the guide rail, institute on the briquetting
It states position-limit mechanism to be fixedly connected including limit shifting block and position-arresting disk, the position-arresting disk with the transmission case body, and the position-arresting disk
On be provided with limiting slot, the limit shifting block has that connect with the driven pulley can be with the axle portion of driven pulley rotation
With from the axle portion limiting section outstanding matched with the limiting slot.
8. a kind of knee-joint rehabilitation training equipment characterized by comprising
The sliding bottom of belt track；
Height adjustment mechanism, the height adjustment mechanism are mounted on the sliding bottom；
Knee joint training adapter as described in any one of claim 1-7, the knee 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 knee joint training adapter position-adjustable is arranged on the sliding rail in rotary training seat.
9. knee-joint rehabilitation training equipment according to claim 8, which is characterized in that the track include the first track and
Second track, first track and second orbital docking are at T-shaped slide rail.
10. a kind of carry out knee joint recovery instruction using the knee-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 the knee joint suitable
The Angle Position that orchestration is moved synchronously and generated changes, and the mode selection module changes according to Angle Position described in the unit time,
It controls motor driven to generate along current control amount identical with the Angle Position change direction, overcomes mechanical resistance driving motor
The knee joint adapter is driven to move along direction identical with the suffering limb direction of motion；
Stretch mode control: the current of electric change detection module detection is since suffering limb is to the knee joint adapter applied force
Square and the curent change in the motor driven that generates, the mode selection module according to curent change adjust motor rotation speed and
Range is used to stretch suffering limb muscle with the velocity of rotation and range that adjust the suffering limb；
Auxiliary and resistance mode control: the Angle Position that the Angle Position change detection module detects the knee joint 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, it is described auxiliary to knee joint adapter application to control the motor
Power-assisted 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 to the knee joint adapter
The curent change for applying torque and generating, the mode selection module are calculated by the detected curent change because of suffering limb
Autokinetic movement and the moment variations that generate, the motor driven is controlled when the moment variations are less than a particular value with band
Dynamic 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 trouble
Person does autokinetic movement, and the moment variations after change ratio are fed back to patient.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN2018103758796 | 2018-04-25 | ||
| CN201810375879 | 2018-04-25 |
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| CN110393895A true CN110393895A (en) | 2019-11-01 |
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| CN201821345570.4U Active CN209220850U (en) | 2018-04-25 | 2018-08-20 | Knee joint training adapter and knee-joint rehabilitation training equipment |
| CN201810947902.4A Pending CN110393895A (en) | 2018-04-25 | 2018-08-20 | Knee joint trains adapter, rehabilitation training equipment and its Training Control method |
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| CN111514533A (en) * | 2020-04-30 | 2020-08-11 | 郭萌 | Independently adjust tensile knee joint rehabilitation training ware |
| CN112023333A (en) * | 2020-09-10 | 2020-12-04 | 王加猛 | Joint strength test and resistance training integrated instrument |
| CN112657131A (en) * | 2020-12-21 | 2021-04-16 | 湖南师范大学 | Flexibility training equipment for taekwondo |
| CN113476269A (en) * | 2021-06-22 | 2021-10-08 | 杭州极智医疗科技有限公司 | Knee joint rehabilitation training device |
| CN113749612A (en) * | 2020-06-02 | 2021-12-07 | 北京清华长庚医院 | Ankle joint evaluation device, ankle joint evaluation apparatus, ankle joint evaluation system, ankle joint evaluation method, and storage medium |
Families Citing this family (1)
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| CN209220850U (en) * | 2018-04-25 | 2019-08-09 | 北京力泰克科技有限公司 | Knee joint training adapter and knee-joint rehabilitation training equipment |
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| CN209220850U (en) | 2019-08-09 |
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