CN110393895B - Knee joint training adapter, rehabilitation training device and training control method thereof - Google Patents
Knee joint training adapter, rehabilitation training device and training control method thereof Download PDFInfo
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- CN110393895B CN110393895B CN201810947902.4A CN201810947902A CN110393895B CN 110393895 B CN110393895 B CN 110393895B CN 201810947902 A CN201810947902 A CN 201810947902A CN 110393895 B CN110393895 B CN 110393895B
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/024—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
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5064—Position 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
- 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
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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
- A63B2220/18—Inclination, slope or curvature
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- A—HUMAN NECESSITIES
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- 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
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- 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)
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- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biophysics (AREA)
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- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a knee joint training adapter, knee joint rehabilitation training equipment and a training control method thereof. The knee joint adapter includes an adjuster, a position adjustment mechanism, a calf mount and an ankle mount, the calf mount and ankle mount being connected to the adjuster by the position adjustment mechanism. The motion control host comprises a driving motor and a control module, the regulator is connected with the driving motor through a transmission mechanism, and the control module is connected with the driving motor. The control module comprises an angular position change detection module, a motor current change detection module and a mode selection module. The invention can effectively assist the patient to exercise the joints, promote the muscle strength, improve the joint mobility and draft and relax the stiff joints.
Description
Technical Field
The invention relates to the field of medical equipment, in particular to a knee joint training adapter, knee joint rehabilitation training equipment and a training control method thereof.
Background
In the field of popular sports rehabilitation training, cerebral apoplexy, multiple sclerosis, spinal cord injury and cerebral palsy affect the lives of millions of people. For most patients with impaired neurological function, dyskinesia is often associated with increased limb cramps, and physical therapy is the primary means of the current rehabilitation training process, but the current training technology has many limitations.
In traditional stretch treatment, physical therapists can employ stretch, assist and other physical intervention procedures to relieve spasticity and contracture of the patient's limb, restore the patient's balance, coordination and motor functions of the joints and limbs. However, traditional stretching by physical manipulation is laborious, often requiring the therapist to stretch the patient's spastic extremities with a great deal of hand effort; meanwhile, the strength of the manual stretching depends on experience of therapists and subjective feeling.
In evoked active exercise training, it is difficult for a patient to achieve complete recovery of limb movement function through his own exercise efforts without the assistance of a physical therapist or device, as a patient is unable to produce continuous stable active limb movements. Furthermore, due to lack of rehabilitation knowledge or over-training, the patient may potentially exacerbate the extent of injury in attempting to perform voluntary limb movements.
Due to shortage of therapist resources, patients do not get a sufficient amount of exercise rehabilitation training, resulting in short-term rehabilitation training efficacy not being maintained for a long period of time.
Conventional passive traction training devices (CPM, cont i nuous pass i ve mot i on) are widely used in hospitals and in patients' homes. CPM primarily provides slow motion of the joint within a predetermined fixed range to prevent post-operative adhesions and reduce joint stiffness. The technical limitation is that CPM machines move a limb or joint between two preset articulation positions at a slow constant speed. Although the system can provide a large stretching moment, the preset movement range is usually smaller than the flexible movement range of the joint because the resistance of the affected limb due to the spasm cannot be detected in the whole stretching process due to the limitation of the mechanical structure, otherwise the damage risk of the joint is increased. Under such functional limitations, the passive traction function is generally unable to stretch to a location of limited high muscle tone, and this physiological location is precisely the most pronounced contracture and cramp, and is also the physiological location where safe and effective stretching is truly desired. Because of the lack of detection of human joint resistance, conventional continuous passive traction trainers cannot be used for rehabilitation of motor dysfunction due to nerve damage.
In recent years, another type of active auxiliary training equipment is mainly a multi-degree-of-freedom robot product and is used for helping to improve the control of active movement of limbs and nerve rehabilitation of patients after cerebral apoplexy and other nerve injuries. However, from a clinical point of view, for patients with high muscular tension/limb spasm (such as cerebral stroke, cerebral palsy, etc.), the problem of high muscular tension/limb spasm may be aggravated during the auxiliary training process by taking into account the problem of muscular tension change or muscle group spasm, which is often neglected by the conventional auxiliary training equipment, and the auxiliary training is directly performed on the patient without the prerequisite function of solving the problem of muscular tension change or muscle group spasm.
In addition, some training laboratory platform robots can accurately measure resistance or active movement tendencies generated by a limb spasm, but their technology is limited in that the implementation of the overall function and control relies on the use of additional precision force/moment sensors. Therefore, the structure determines the increase of the manufacturing cost of the whole system, and the price is too high, thus being not suitable for being widely used in basic communities and families. And because of the different structural compositions, the device can only provide an active auxiliary exercise training function, and on the same device, a passive stretching function with larger output moment cannot be realized at the same time, and the treatment mode of combining active/passive training and the evaluation after training are ignored.
The products on the market in China mainly comprise upper limb trainer, CPM (continuous passive exercise rehabilitation device) and other forms. The pedal bicycle type trainer is suitable for active and passive training of the upper limbs. The product can gradually improve blood circulation, increase muscle strength and endurance of affected limb, maintain flexibility of muscle, and reduce muscle tension by upper limb and active training and passive training. The device is mainly characterized by simple function and convenient operation of staff; is suitable for simultaneous use, monitoring and management of a plurality of stations. Meanwhile, the intelligent rehabilitation training system is provided with protective measures, and once the spasm occurs in the use process of a patient, the intelligent reverse movement mode can be started by the machine to relieve the symptoms of the spasm. Although having active and passive modes, only repetitive joint limb movements can be generated due to limitations in mechanical design and motion control techniques; the problem of limb cramping for brain injury patients cannot provide targeted joint flexible traction. The training patterns provided by such products are limited to basic exercise patterns, suitable for improving cardiopulmonary ability and maintaining basic exercise ability, but are very limited for alleviating the problem of improving limb cramps.
Disclosure of Invention
In view of the problems of the prior art, the present invention initially provides a knee joint training adapter that at least partially addresses the deficiencies of the prior art.
The knee joint training adapter provided by the invention comprises:
A knee joint adapter including an adjuster, a position adjustment mechanism, a shank strap, and an ankle strap, the shank strap and the ankle strap being connected to the adjuster by the position adjustment mechanism; and
The motion control host comprises a driving motor and a control module, the regulator is connected with the driving motor through a transmission mechanism, and the control module is connected with the driving motor;
Wherein, the control module includes:
the angular position change detection module is used for detecting angular position changes generated by the synchronous movement of the regulator driven by the active movement of the affected limb;
The motor current change detection module is used for detecting current change in motor driving generated by applying torque to the regulator by the affected limb; and
And the mode selection module is respectively connected with the angular position change detection module and the motor current change detection module so as to select to adopt an inherent resistance mode, a stretching mode, an auxiliary and resistance mode or an active motion induction mode according to the angular position change and/or the current change.
Preferably, the position adjusting mechanism comprises a first sliding block, a second sliding block and a guide rail, the guide rail is fixedly connected with the adjuster, the first sliding block is in sliding fit with the guide rail, the second sliding block is in sliding fit with the guide rail, the shank fixing piece is adjustably connected with the first sliding block through an adjusting mechanism, and the ankle fixing piece is fixedly connected with the second sliding block.
Preferably, the adjusting mechanism is a sliding rail, the shank fixing piece is fixed on the sliding rail, the first sliding block is provided with a first sliding groove and a second sliding groove, the first sliding groove is matched with the sliding rail, and the second sliding groove is matched with the sliding rail.
Preferably, the first sliding groove has a first sliding direction, the second sliding groove has a second sliding direction, and the first sliding direction and the second sliding direction are perpendicular to each other.
Preferably, the guide rail has a length direction, and the first sliding direction coincides with the length direction of the guide rail.
Preferably, the transmission mechanism comprises a transmission box body and a synchronous belt transmission mechanism arranged in the transmission box body, the synchronous belt transmission mechanism is provided with a driven belt pulley, the regulator is connected with the driven belt pulley, and the regulator can rotate by taking the central axis of the driven belt pulley as a shaft.
Preferably, the regulator includes briquetting and stop gear, the briquetting with driven pulley fixed connection, just have on the briquetting with guide rail matched with fluting, stop gear includes spacing shifting block and spacing dish, spacing dish with transmission box fixed connection, just be provided with the spacing groove on the spacing dish, spacing shifting block have with driven pulley connection can follow driven pulley rotatory shaft part with follow the shaft part outstanding with spacing groove matched with spacing portion.
The invention further provides knee joint rehabilitation training equipment which comprises a sliding base with a track, a height adjusting mechanism, the knee joint training adapting piece, a display device and a rotary training seat. The height adjusting mechanism is arranged on the sliding base. The knee joint training adapter is mounted on the height adjustment mechanism. The display device is adjustably supported above the motion control host through a screen bracket. The rotary training seat is disposed on the track in a position that is adjustable relative to the knee training adapter.
Preferably, the track comprises a first track and a second track, and the first track and the second track are in butt joint to form a T-shaped sliding rail.
The invention further provides a control method for knee joint rehabilitation training by adopting the knee joint rehabilitation training device, which comprises the following steps:
Inherent resistance mode control: the angular position change detection module detects angular position change generated by the synchronous movement of the knee joint adapter driven by the active movement of the affected limb, the mode selection module controls the motor to drive to generate current control quantity along the same direction as the angular position change according to the angular position change in unit time, and the motor is driven to drive the knee joint adapter to move along the same direction as the movement direction of the affected limb by overcoming mechanical resistance;
Stretch mode control: the motor current change detection module detects current changes in motor drive generated by the affected limb applying moment to the forearm joint adapter, and the mode selection module adjusts the motor rotation speed and range according to the current changes so as to adjust the rotation speed and range of the affected limb for stretching muscles of the affected limb;
Assistance and resistance mode control: the angular position change detection module detects the angular position change of the knee joint adapter, and the mode selection module calculates the auxiliary force which is required to be the same as the movement direction of the affected limb or the resistance opposite to the movement direction of the affected limb according to the angular position change so as to control the motor to apply the auxiliary force or the resistance to the knee joint adapter, so that the affected limb can perform auxiliary training or resistance training;
Active motion mode control is induced: the angular position change detection module detects current changes generated by applying torque to the knee joint adapter by the affected limb, the mode selection module calculates moment changes generated by autonomous movement of the affected limb according to the detected current changes, controls the motor to drive the affected limb to perform exemplary passive movement when the moment changes are smaller than a certain specific value, feeds back the movement of the limb to a patient in a visual or audible mode, enables the patient to perform autonomous movement, and feeds back the moment changes after the proportion change to the patient.
The invention combines the designs of the knee joint adapter and the motion control host, can effectively assist a patient to exercise joints, improve muscle strength, improve joint mobility and draft and relax stiff joints; in addition, because the change of the muscle tension is monitored according to the change of the angular position and the change of the current, the flexible self-adaptive traction treatment is implemented, namely, the joint motion parameters are dynamically monitored, and the force of the speed and the traction joint motion degree can be accurately adjusted to the maximum extent on the basis of ensuring the safety and the effectiveness, and the flexible self-adaptive traction treatment device is economical, practical and simple in structure.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application.
FIG. 1 is an overall schematic view of a knee rehabilitation training device according to an embodiment of the present invention;
FIG. 2 is a block diagram of the control module of the knee training adapter of the present invention;
FIG. 3 is a schematic view of the knee joint adapter of FIG. 1;
FIG. 4 is an exploded view of the knee adapter of FIG. 1;
fig. 5 is an exploded view (from another direction) of the knee joint adapter of fig. 1.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings. It should be apparent that the described embodiments are only some embodiments of the present invention and not all embodiments of the present invention, and it should be understood that the present invention is not limited by the example embodiments described herein. Based on the embodiments of the invention described in the present application, all other embodiments that a person skilled in the art would have without inventive effort shall fall within the scope of the invention.
In the description of the present invention, it should be noted that terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," "front," and "rear," and the like, indicate terms of orientation or positional relationship with respect to an observer or patient standing around the knee rehabilitation apparatus, are merely for convenience of describing the present invention and for simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. For the electrical and communication fields, either a wired connection or a wireless connection is possible. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
As shown in fig. 1, the present invention provides a knee rehabilitation training device including a sliding base 800 with a rail, a height adjusting mechanism 300, a knee training adapter 1000, a display device 400, and a rotary training seat 500. The height adjustment mechanism 300 is mounted on the slide base 800. The knee training adapter 1000 is mounted on the height adjustment mechanism 300. The display device 400 is adjustably supported by a screen support above a motion control host (described below) of the knee training adapter. The rotary training seat 500 is positioned on the track 600 with adjustable positions relative to the knee training adapter. The slide mount 800 is locked to the rail 600 and is adjustable in position relative to the rail 600. The track 600 includes a first track 601 and a second track 602, the first track 601 and the second track 602 are butted into a T-shaped slide rail, the sliding base 800 is in sliding fit with the first track 601, and the rotary training seat 500 is in sliding fit with the second track 602.
Based on the arrangement of the first track 601, the left leg and the right leg can be respectively trained, for example, the motion control host is pushed to a proper position, when left or right knee joint training is needed, the left or right lower leg is placed on the knee joint training adapting piece 1000, the proper sitting posture during training is maintained, and then the first track 601 is locked; based on the arrangement of the second rail 602, the rotary exercise seat 500 may be moved forward/backward accordingly to the proper position, depending on the length of the different patient's legs.
The display device 400 may be used to display various data, including knee motion data and various other information, and the display device 400 may include a display screen and/or an image projection device (projector) support bar disposed behind a motion control host, opposite the rotary exercise chair 500, for patient viewing. Preferably, the support bar rotatable by 360 degrees is provided at the upper rear portion of the motion control main body. Preferably, the display screen may be a touch screen and has the function of an input part of the control device.
Specifically, referring again to fig. 1, knee training adapter 1000 includes knee adapter 100 and a motion control host. The motion control host includes a drive motor 200 and a control module 700.
Referring to fig. 2, the control module 700 includes an angular position change detection module 710, a motor current change detection module 720, and a mode selection module 730, where the angular position change detection module 710 is configured to detect an angular position change generated by an active motion of a patient limb driving the knee joint adapter 100 to move synchronously; the motor current change detection module 720 is used for detecting current change in motor driving generated by applying moment to the knee joint adapter 100 by the affected limb; the mode selection module 730 is connected to the angular position change detection module 710 and the motor current change detection module 720, respectively, to select to use the intrinsic resistance mode, the stretch mode, the assist and resistance modes, or to induce the active motion mode according to the angular position change and/or the current change.
Specifically, referring again to fig. 1, in the passive training mode, the driving motor 200 drives the knee joint adapter 100 to move, so as to drive the knee joint of the patient to train; in the active training mode, the knee joint adapter 100 is moved by the patient's voluntary movement, thereby training the patient's knee joint. Preferably, after a period of passive training of the patient, the active training may be selected again after the test has reached the requirements.
Referring to fig. 3 and 4 in combination, which are block diagrams of the knee joint adapter 100 according to the embodiment of the present invention, the knee joint adapter 100 includes a regulator 110, a position adjusting mechanism 120, a calf fixing member 130 and an ankle fixing member 140, the calf fixing member 130 and the ankle fixing member 140 are connected to the regulator 110 through the position adjusting mechanism 120, the regulator 110 is connected to the driving motor 200 through a transmission mechanism 900, and the control module 700 is connected to the driving motor 200.
Illustratively, the position adjusting mechanism 120 includes a first slider 121, a second slider 122 and a guide rail 123, the guide rail 123 is fixedly connected with the adjuster 110, the first slider 121 is slidably engaged with the guide rail 123, the second slider 122 is slidably engaged with the guide rail 123, the lower leg fixing member 130 is adjustably connected with the first slider 121 through an adjusting mechanism 150, and the ankle fixing member 140 is fixedly connected with the second slider 122.
Preferably, the adjusting mechanism 150 is a sliding rail, the shank fixing element 130 is fixed on the sliding rail 150, the first sliding block 121 has a first sliding groove 1211 and a second sliding groove 1212, the first sliding groove 1211 is matched with the guiding rail 123, and the second sliding groove 1212 is matched with the sliding rail 150. The first slide slot 1211 has a first sliding direction, and the second slide slot 1212 has a second sliding direction, the first sliding direction being perpendicular to the second sliding direction. In the embodiment shown in fig. 4, the guide rail 123 has a length direction, and the first sliding direction coincides with the length direction of the guide rail. Based on this arrangement, the lower leg fixing member 130 is position-adjustable on the guide rail 123 along its length direction, and is also slidable in a direction perpendicular to the guide rail length direction; ankle strap 140 can also be moved along the length of the rail so that it can be adjusted in different positions.
The shank fixing member 130 comprises a fixing shaft 131 and shank foam wheels 132 sleeved on the fixing shaft 131, and the fixing shaft 131 is fixedly connected with the sliding rail 150 through a fixing block 133. The sliding rail 150 is slidably connected with the first sliding block 121 through the second sliding groove 1212, so that the position of the shank fixing element 130 perpendicular to the length direction of the guiding rail is adjustable.
The ankle fixing member 140 includes a fixing shaft 141 and an ankle foam roller 142 sleeved on the fixing shaft 141, and the fixing shaft 141 is fixedly connected with the second slider 122. The second slider 122 is slidably coupled to the guide rail 123, so that the ankle fixing member 140 is adjustable in position along the length of the guide rail 123.
Preferably, both the calf foam wheel 132 and the ankle foam wheel 142 have knee shapes to function as a fixing for the knee.
Illustratively, the transmission mechanism 900 is a synchronous belt transmission mechanism, the synchronous belt transmission mechanism 900 includes a first transmission housing 901, a second transmission housing 903, a driven pulley 902, a driving pulley and a tensioning pulley (the driving pulley and the tensioning pulley are not labeled in the drawing), the first transmission housing 901 and the second transmission housing 903 are buckled to form a transmission case, the driven pulley 902 is disposed in the transmission case, the regulator 110 is connected to the driven pulley 902, and the regulator 110 is rotatable about a central axis of the driven pulley 902.
Preferably, referring to fig. 5 in combination, the regulator 110 includes a pressing block 111 and a limiting mechanism 1120, the pressing block 111 is fixedly connected with the driven pulley 902, the pressing block 111 is provided with a slot 1111 matched with the guide rail 123, the limiting mechanism 1120 includes a limiting shifting block 1121 and a limiting disc 1122, the limiting disc 1122 is fixedly connected with the transmission case, the limiting disc 1122 is provided with a limiting groove 11221, and the limiting shifting block 1121 is provided with a shaft portion 11211 connected with the driven pulley 902 and capable of rotating along with the driven pulley 902, and a limiting portion 11212 protruding from the shaft portion 11211 and matched with the limiting groove 11221. The driven pulley 902 may be assembled from a main body pulley 9021, a center pulley 9022 and an intermediate pulley 9023, wherein a transmission belt is wound around the main body pulley 9021, and the center pulley 9022 is fixedly connected with the pressing block 111 and is mounted on the shaft portion 11211 without a key shaft. Based on the setting of the limiting mechanism 1120, the limiting plate 1122 is fixed, so that the limiting block 1121 is rotatable under the driving of the calf fixing member 130 and/or the ankle fixing member 140, and when the limiting block 1121 rotates to a side wall of the limiting groove 11221 of the limiting plate 1122, limiting is generated.
In the control mode, the invention can set the activity angle and can set 2 position parameters respectively: the flexion angle of the maximum extension ability of the knee joint, the flexion angle of the maximum flexion ability. The stretching strength can set the bending angle of the maximum stretching ability of the stretching knee joint according to the actual condition of the knee joint of a patient, and the bending angle data of the maximum bending ability are obtained. The range of the buckling angle setting of the training device for the maximum extension capacity of the knee joint is 5-95 degrees, and the range of the buckling angle setting of the maximum buckling capacity is 5-95 degrees.
The control module of the invention can flexibly adjust the pulling strength, the speed and the movement range by monitoring the change of limb resistance or muscle tension, thereby safely and effectively reducing the muscle tension, and relieving and inhibiting the spasm. Can provide effective knee extension/flexion movement guidance, induce autonomous movement of the knee joint and strengthen muscle strength.
Extension refers to the movement of the lower leg such that the lower leg, knee, thigh approach a straight line; flexion refers to the action of moving the knee so that the calf makes an angle with the thigh.
The invention also provides a method for performing knee joint rehabilitation training by using the device, which comprises the following steps: one or more of the following modes are performed according to the needs of the affected limb training: 1) Counteracting the natural drag mode of the system. In the mode, the angular position change detection module detects angular position change generated by the synchronous movement of the knee joint adapter driven by the active movement of the affected limb, the mode selection module controls the motor to drive to generate current control quantity along the same direction as the angular position change direction according to the angular position change in unit time, and the motor is driven to drive the knee joint adapter to move along the same direction as the movement direction of the affected limb so as to enable the affected limb to move freely. 2) Stretching mode. In this mode, the motor current variation detection module detects a current variation in the motor drive due to the torque applied to the knee joint adapter by the affected limb, the detected current variation is filtered by low pass to obtain a smooth value, and the mode selection module adjusts the motor rotation speed and range according to the current variation to adjust the rotation speed and range of the affected limb for stretching the muscle of the affected limb. 3) Assistance and resistance control modes. In this mode, the angular position change detection module detects the angular position change of the knee joint adapter, and the mode selection module calculates the required auxiliary force in the same direction as the movement direction of the affected limb or the resistance opposite to the movement direction of the affected limb according to the angular position change so as to control the motor to apply the auxiliary force or the resistance to the knee joint adapter, so that the affected limb can perform auxiliary training or resistance training. 4) An active motion mode is induced. In this mode, the angular position change detection module detects a current change generated by applying a moment to the knee joint adapter by the affected limb, the mode selection module calculates a moment change generated by autonomous movement of the affected limb from the detected current change, controls the motor to drive the affected limb to perform an exemplary passive movement when the moment change is smaller than a specific value, and feeds back the movement of the limb to the patient in a visual or audible manner, and then allows the patient to perform the autonomous movement and feeds back the moment change after the ratio change to the patient.
The beneficial effects of the invention are as follows:
1. By monitoring the change of limb resistance or muscle tension, the product can flexibly adjust the traction strength, speed and movement range, thereby safely and effectively reducing the muscle tension, and relieving and inhibiting the spasm.
2. On the premise of ensuring limb safety, the knee joint expansion limit position flexibility and the like Zhang Qianla are realized, and the joint movement range is enlarged.
3. The product is used for rehabilitation training of knee joints in clinic, and simultaneously stretches proper muscle/ligament length, inhibits spasm, prevents joint contracture, and maintains and improves joint movement of patients.
4. Can realize the training of multiple knee joint strengthening modes simultaneously: free drag-free motion, auxiliary and drag-resistant motion, passive draft, and interactive game induced active motion patterns.
5. The novel mode of inducing and sensing the active movement is emphasized, intelligent voice guidance and interaction are provided, and interesting limbs sense game interaction is realized.
6. By using the novel control system patent technology, the cost of the core component is greatly reduced, and a feasible equipment solution is provided for future home use and community rehabilitation.
Although the illustrative embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the above illustrative embodiments are merely illustrative and are not intended to limit the scope of the present invention thereto. Various changes and modifications may be made therein by one of ordinary skill in the art without departing from the scope and spirit of the invention. All such changes and modifications are intended to be included within the scope of the present invention as set forth in the appended claims.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in order to streamline the invention and aid in understanding one or at least two of the various inventive aspects, in the description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof. However, the method of the present invention should not be construed as reflecting the following intent: i.e., the claimed invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
It will be understood by those skilled in the art that all of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or means of any method or apparatus so disclosed, may be combined in any combination, except combinations where the features are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features but not others included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of at least two such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the device claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.
The foregoing description is merely illustrative of specific embodiments of the present invention and the scope of the present invention is not limited thereto, and any person skilled in the art can easily think about variations or substitutions within the scope of the present invention. The protection scope of the invention is subject to the protection scope of the claims.
Claims (7)
1. A knee joint training adapter, comprising:
The knee joint adapter comprises an adjuster, a position adjusting mechanism, a shank fixing piece and an ankle fixing piece, wherein the shank fixing piece and the ankle fixing piece are connected with the adjuster through the position adjusting mechanism, the position adjusting mechanism comprises a first sliding block, a second sliding block and a guide rail, the guide rail is fixedly connected with the adjuster, the first sliding block is in sliding fit with the guide rail, the second sliding block is in sliding fit with the guide rail, the shank fixing piece is in adjustable connection with the first sliding block through an adjusting mechanism, and the ankle fixing piece is fixedly connected with the second sliding block; and
The motion control host comprises a driving motor and a control module, the regulator is connected with the driving motor through a transmission mechanism, and the control module is connected with the driving motor;
Wherein the transmission mechanism comprises a transmission box body and a synchronous belt transmission mechanism arranged in the transmission box body, the synchronous belt transmission mechanism is provided with a driven belt pulley, the regulator is connected with the driven belt pulley, the regulator takes the central axis of the driven belt pulley as a shaft and can rotate, the regulator comprises a pressing block and a limiting mechanism, the pressing block is fixedly connected with the driven belt pulley, a groove matched with the guide rail is formed in the pressing block, the limiting mechanism comprises a limiting shifting block and a limiting disc, the limiting disc is fixedly connected with the transmission box body, a limiting groove is formed in the limiting disc, the limiting shifting block is provided with a shaft part which is connected with the driven belt pulley and can rotate along with the driven belt pulley and a limiting part which protrudes from the shaft part and is matched with the limiting groove, the driven belt pulley comprises a main body wheel, a central wheel and an intermediate wheel, the central wheel is fixedly connected with the pressing block and is connected with the shaft part without a key shaft,
The control module includes:
the angular position change detection module is used for detecting angular position changes generated by the synchronous movement of the regulator driven by the active movement of the affected limb;
The motor current change detection module is used for detecting current change in motor driving generated by applying torque to the regulator by the affected limb; and
And the mode selection module is respectively connected with the angular position change detection module and the motor current change detection module so as to select to adopt an inherent resistance mode, a stretching mode, an auxiliary and resistance mode or an active motion induction mode according to the angular position change and/or the current change.
2. The knee joint training adapter of claim 1, wherein the adjustment mechanism is a slide rail, the calf mount is fixed to the slide rail, the first slider has a first slide slot and a second slide slot, the first slide slot is mated with the slide rail, and the second slide slot is mated with the slide rail.
3. The knee joint training adapter of claim 2, wherein the first runner has a first sliding direction and the second runner has a second sliding direction, the first sliding direction being perpendicular to the second sliding direction.
4. The knee joint training adapter of claim 3, wherein the rail has a length direction, the first sliding direction being coincident with the length direction of the rail.
5. A knee rehabilitation training device, comprising:
a sliding base with a track;
the height adjusting mechanism is arranged on the sliding base;
The knee training adapter of any one of claims 1-4, the knee training adapter mounted on the height adjustment mechanism;
the display device is adjustably supported above the motion control host through a screen bracket; and
The rotary training seat is arranged on the track and is adjustable in position relative to the knee joint training adapter.
6. The knee rehabilitation apparatus of claim 5, wherein the rail comprises a first rail and a second rail, the first rail interfacing with the second rail to form a T-shaped slide rail.
7. A control method for performing knee rehabilitation training using the knee rehabilitation training device according to any one of claims 5 to 6, comprising:
Inherent resistance mode control: the angular position change detection module detects angular position change generated by the synchronous movement of the knee joint adapter driven by the active movement of the affected limb, the mode selection module controls the motor to drive to generate current control quantity along the same direction as the angular position change according to the angular position change in unit time, and the motor is driven to drive the knee joint adapter to move along the same direction as the movement direction of the affected limb by overcoming mechanical resistance;
stretch mode control: the motor current change detection module detects current changes in motor drive generated by the affected limb applying moment to the knee joint adapter, and the mode selection module adjusts the motor rotation speed and range according to the current changes so as to adjust the rotation speed and range of the affected limb for stretching muscles of the affected limb;
Assistance and resistance mode control: the angular position change detection module detects the angular position change of the knee joint adapter, and the mode selection module calculates the auxiliary force which is required to be the same as the movement direction of the affected limb or the resistance opposite to the movement direction of the affected limb according to the angular position change so as to control the motor to apply the auxiliary force or the resistance to the knee joint adapter, so that the affected limb can perform auxiliary training or resistance training;
Active motion mode control is induced: the angular position change detection module detects current changes generated by applying torque to the knee joint adapter by the affected limb, the mode selection module calculates moment changes generated by autonomous movement of the affected limb according to the detected current changes, controls the motor to drive the affected limb to perform exemplary passive movement when the moment changes are smaller than a specific value, and feeds back the movement of the limb to a patient in a visual or audible mode, then enables the patient to perform autonomous movement, and feeds back the moment changes after the proportion change to the patient.
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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 |
| CN111514533B (en) * | 2020-04-30 | 2021-04-20 | 郭萌 | Independently adjust tensile knee joint rehabilitation training ware |
| 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 |
| CN112023333A (en) * | 2020-09-10 | 2020-12-04 | 王加猛 | Joint strength test and resistance training integrated instrument |
| CN111938998A (en) * | 2020-09-11 | 2020-11-17 | 南京艾提瑞精密机械有限公司 | Knee joint rehabilitation robot |
| CN112657131A (en) * | 2020-12-21 | 2021-04-16 | 湖南师范大学 | Flexibility training equipment for taekwondo |
| CN113476269B (en) * | 2021-06-22 | 2023-05-09 | 杭州极智医疗科技有限公司 | Knee joint rehabilitation training device |
| CN115869155B (en) * | 2022-12-02 | 2024-06-21 | 杭州晴川科技有限公司 | Anti-pinch detection method for electric telescopic leg beautifying of massage armchair |
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