CN110772398A - Gait training device - Google Patents

Gait training device Download PDF

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Publication number
CN110772398A
CN110772398A CN201911101549.9A CN201911101549A CN110772398A CN 110772398 A CN110772398 A CN 110772398A CN 201911101549 A CN201911101549 A CN 201911101549A CN 110772398 A CN110772398 A CN 110772398A
Authority
CN
China
Prior art keywords
supporting seat
base
servo motor
driving device
driving
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201911101549.9A
Other languages
Chinese (zh)
Inventor
郭凤仙
马苏湖
徐颖俊
邓杨
禹华军
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Electric Group Corp
Original Assignee
Shanghai Electric Group Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Electric Group Corp filed Critical Shanghai Electric Group Corp
Priority to CN201911101549.9A priority Critical patent/CN110772398A/en
Publication of CN110772398A publication Critical patent/CN110772398A/en
Pending legal-status Critical Current

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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
    • 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
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1671—Movement of interface, i.e. force application means rotational
    • A61H2201/1673—Multidimensional rotation
    • 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
    • A61H2201/5061—Force sensors

Abstract

The application relates to rehabilitation medical equipment, discloses a gait training device, includes: the device comprises a base, two pedal supporting seats arranged along a first direction and driving assemblies in one-to-one correspondence with the pedal supporting seats; the drive assembly includes: the first supporting seat is arranged on the base and can reciprocate along a second direction relative to the base; the second supporting seat is arranged on the first supporting seat and can reciprocate along a third direction relative to the first supporting seat; the pedal supporting seat is arranged on the second supporting seat and can rotate around a first axis relative to the second supporting seat, and the first axis is parallel to the first direction; the first driving device is used for driving the first supporting seat to move relative to the base; the second driving device is used for driving the second supporting seat to move relative to the first supporting seat; and the third driving device is used for driving the pedal supporting seat to move relative to the second supporting seat. The gait training device in this application makes patient's ankle joint can carry out rehabilitation training in three degree of freedom directions, improves patient's recovered effect.

Description

Gait training device
Technical Field
The application relates to rehabilitation medical equipment, in particular to a gait training device.
Background
In recent years, with the higher aging level of China, more and more patients with lower limb joint injury caused by diseases such as cerebral apoplexy and apoplexy help the patients to repair the sports joint injury, so that the patients can normally walk and sit up, which becomes a problem which needs to be solved urgently by society.
For people with damaged ankle joints, professional gait rehabilitation training equipment is needed to help the people to recover the damaged joints, the existing gait rehabilitation training device aims at the ankle training and is single-degree-of-freedom, namely the rotational degree of freedom of one ankle, the number of degrees of freedom of the joints of the ankle of a normal person cannot be met, and under the condition, a patient is difficult to perform rehabilitation training in a comfortable environment, so that the expected rehabilitation effect cannot be well achieved.
Disclosure of Invention
The application provides a gait training ware, pedal supporting seat can follow the direction rotation of second direction, third direction reciprocating motion and around first axis to make patient's ankle joint can carry out the rehabilitation training in three degree of freedom direction, improve the recovered effect of patient.
In order to achieve the above object, the present application provides a gait training device comprising:
the device comprises a base, two pedal supporting seats arranged along a first direction and driving assemblies in one-to-one correspondence with the pedal supporting seats; the drive assembly includes:
the first support seat is arranged on the base and can reciprocate along a second direction relative to the base, and the second direction is vertical to the first direction;
a second support base which is arranged on the first support base and can move back and forth along a third direction relative to the first support base, wherein the third direction is vertical to the first direction and the second direction;
the pedal supporting seat is arranged on the second supporting seat and can rotate around a first axis relative to the second supporting seat, and the first axis is parallel to the first direction;
the first driving device is used for driving the first supporting seat to move relative to the base;
the second driving device is used for driving the second supporting seat to move relative to the first supporting seat;
and the third driving device is used for driving the pedal supporting seat to move relative to the second supporting seat.
Gait training ware in this application, including the base, along two pedal supporting seats of first direction range, establish and be used for driving the drive assembly of pedal supporting seat action in every pedal supporting seat below, wherein, drive assembly includes: the first support seat is arranged on the base and can reciprocate along a second direction relative to the base, and the second direction is vertical to the first direction; the second supporting seat is arranged on the first supporting seat and can reciprocate along a third direction relative to the first supporting seat, and the third direction is vertical to the first direction and the second direction; the pedal supporting seat is arranged on the second supporting seat and can rotate around a first axis relative to the second supporting seat, and the first axis is parallel to the first direction. From this, according to the recovered needs of patient's ankle joint, the relative base action of first supporting seat of first drive arrangement drive, the relative first supporting seat action of second drive arrangement drive second supporting seat, the relative second supporting seat action of third drive arrangement drive pedal supporting seat to can make patient's ankle joint carry out the training of three degree of freedom directions, and then improve the recovered effect of patient.
Preferably, the pedal support seat further comprises a main controller electrically connected with the first driving device, the second driving device and the third driving device, and a sensor assembly used for detecting the pressure applied to the pedal support seat;
the sensor assembly is used for sending collected pressure information to the main controller, and the main controller controls output power of the first driving device, the second driving device and the third driving device according to the pressure information and traction data of the foot step tail end set by the upper computer so as to control action of the foot step supporting seat.
Preferably, the first driving device comprises a first servo motor and a first servo driver;
the first servo motor is located between the base and the first supporting seat, the first servo driver is electrically connected with the main controller and the first servo motor, and the first servo driver is used for receiving an instruction sent by the main controller so as to adjust the output power of the first servo motor.
Preferably, the second driving device comprises a second servo motor and a second servo driver;
the second servo motor is located the second supporting seat with the first supporting seat deviates from between one side of base, the second servo driver with main control unit reaches the second servo motor electricity is connected, the second servo driver is used for receiving the instruction that main control unit sent, in order to adjust second servo motor's output.
Preferably, the third driving means includes a third servo motor and a third servo driver;
the third servo driver is electrically connected with the main controller and the third servo motor, and is used for receiving an instruction sent by the control of the main controller so as to adjust the output power of the third servo motor.
Preferably, the third driving device further comprises a connecting member;
one end of the connecting piece is connected with one end of the pedal supporting seat close to the base, and the other end of the connecting piece is connected with an output shaft of the third servo motor.
Preferably, the device further comprises an upper computer connected with the main controller, and the upper computer is used for displaying the pressure value detected by the sensor assembly, displaying and adjusting the traction force value at the tail end of the step, and the output power of the first driving device, the second driving device and the third driving device.
Preferably, a sliding rail is arranged on the first supporting seat, a groove matched with the sliding rail is formed in one side, close to the first supporting seat, of the second supporting seat, and the second driving device is used for driving the first supporting seat to slide along the sliding rail.
Preferably, the second direction is a direction perpendicular to a plane in which the base is located.
Preferably, the device further comprises a shell;
the base set up in the bottom of casing, be equipped with the opening on the casing, pedal supporting seat is located open-ended top, wherein, open-ended extending direction is located the swing orbit of connecting piece.
Drawings
FIG. 1 is a schematic view of a gait training apparatus according to an embodiment of the present application;
fig. 2 is a flowchart illustrating a main controller controlling a first driving device, a second driving device and a third driving device in a gait training device according to an embodiment of the present application.
Icon: 1-a shell; 10-a base; 20-a pedal support seat; 30-a first support; 40-a second support seat; 50-a first drive; 60-a second drive; 70-a third drive; 71-a third servomotor; 72-connecting element.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an embodiment of the present application provides a gait training device, which includes:
the device comprises a base 10, two pedal supporting seats 20 arranged along a first direction and driving components corresponding to the pedal supporting seats 20 one by one; the drive assembly includes:
a first support base 30 disposed on the base 10 and capable of reciprocating in a second direction with respect to the base 10, the second direction being perpendicular to the first direction;
a second support base 40 disposed on the first support base 30 and capable of reciprocating relative to the first support base 30 along a third direction, the third direction being perpendicular to the first direction and the second direction;
the pedal support base 20 is disposed on the second support base 40 and can rotate around a first axis relative to the second support base 40, and the first axis is parallel to the first direction;
a first driving device 50 for driving the first supporting seat 30 to move relative to the base 10;
a second driving device 60 for driving the second supporting seat 40 to move relative to the first supporting seat 30;
a third driving means 70 for driving the foot rest 20 to move relative to the second rest 40.
The first direction is a length direction of the base 10, and the second direction is a direction perpendicular to a plane where the base 10 is located, that is, the second direction is perpendicular to the first direction.
Gait training ware in this application, including base 10, two pedal supporting seats 20 along the first direction range, establish and be used for driving the drive assembly of pedal supporting seat 20 action below every pedal supporting seat 20, wherein, drive assembly includes: a first supporting base 30 disposed on the base 10 and capable of reciprocating in a second direction perpendicular to the first direction with respect to the base 10; a second support base 40 disposed on the first support base 30 and capable of reciprocating relative to the first support base 30 along a third direction, the third direction being perpendicular to the first direction and the second direction; and the pedal support seat 20 is arranged on the second support seat 40 and can rotate around a first axis relative to the second support seat 40, and the first axis is parallel to the first direction. Therefore, according to the rehabilitation requirement of the ankle joint of the patient, the first driving device 50 drives the first supporting seat 30 to move relative to the base 10, the second driving device 60 drives the second supporting seat 40 to move relative to the first supporting seat 30, and the third driving device 70 drives the pedal supporting seat 20 to move relative to the second supporting seat 40, so that the ankle joint of the patient can be trained in three freedom directions, and the rehabilitation effect of the patient is improved.
In addition, according to the rehabilitation requirement of the ankle joint of the patient, the first driving device 50, the second driving device 60 and the third driving device 70 can work simultaneously, or any two or one of the first driving device, the second driving device and the third driving device can work so as to adapt to the rehabilitation requirement of the patient.
As an alternative, please refer to fig. 2, further comprising a main controller electrically connected to the first driving device 50, the second driving device 60 and the third driving device 70, a sensor assembly for detecting the pressure applied to the pedal support base 20; the sensor assembly is used for sending the acquired pressure information to the main controller, and the main controller controls the output power of the first driving device 50, the second driving device 60 and the third driving device 70 according to the pressure information and traction data of the foot step tail end set by the upper computer so as to control the action of the foot support seat 20.
In this embodiment, when the patient put the foot in pedal supporting seat 20, the pressure information of sole among the recovered process of patient is gathered in real time to the sensor module, and with pressure data transmission to main control unit, main control unit reachs the position that pedal supporting seat 20 should move according to pressure information, and the speed and the acceleration of pedal supporting seat 20 motion, thereby control the first drive arrangement 50 of being connected with main control unit, second drive arrangement 60 and third drive arrangement 70's output, thereby the ankle action when the anthropomorphic dummy that can be better normally walks, make the patient ankle obtain safe comfortable rehabilitation training environment, improve recovered effect.
As an alternative, the first driving device 50 includes a first servo motor and a first servo driver; the first servo motor is located between the base 10 and the first supporting seat 30, the first servo driver is electrically connected with the main controller and the first servo motor, and the first servo driver is used for receiving an instruction sent by the main controller so as to adjust the output power of the first servo motor.
In this embodiment, the first servo motor CAN drive the first supporting seat 30 to move toward the direction close to the base 10 or away from the base 10, that is, to reciprocate along the second direction, and the first servo driver is connected to the first servo motor and the main controller through the CAN bus, so that when the first servo driver receives an instruction from the main controller, the output power of the first servo motor is adjusted accordingly, the lifting speed and height of the first supporting seat 30 are increased or decreased, and the movement of the pedal supporting seat 20 along the second direction is adjusted.
As an alternative, the second driving device 60 includes a second servo motor and a second servo driver; the second servo motor is located between one side of the second supporting seat 40 and one side of the first supporting seat 30 departing from the base 10, the second servo driver is electrically connected with the main controller and the second servo motor, and the second servo driver is used for receiving an instruction sent by the main controller so as to adjust the output power of the second servo motor.
In this embodiment, the second servo motor drives the second support seat 40 to reciprocate along the third direction, and when the second servo driver receives an instruction from the main controller, the second servo controller adjusts the output power of the second servo motor to adjust the speed and acceleration of the second support plate reciprocating along the third direction, thereby adjusting the movement of the pedal support seat 20 along the third direction.
As an alternative, the third driving device 70 includes a third servo motor 71 and a third servo driver; the third servo driver is electrically connected with the main controller and the third servo motor 71, and the third servo driver is used for receiving an instruction sent by the control of the main controller so as to adjust the output power of the third servo motor 71.
Further, the third driving device 70 further includes a connecting member 72; one end of the connecting member 72 is connected to one end of the pedal support base 20 close to the base 10, and the other end of the connecting member 72 is connected to an output shaft of the third servo motor 71.
In this embodiment, the output shaft of the third servo motor 71 is connected to the connecting member 72, and one end of the connecting member 72 away from the third servo motor 71 is connected to the pedal support base 20, so that when the third driver receives a command from the main controller, the output power of the third servo motor 71 is immediately adjusted to adjust the frequency and speed of the rotation of the pedal support base 20 along the first axial direction.
As an optional mode, the system further comprises an upper computer connected with the main controller, and the upper computer is used for displaying the pressure value detected by the sensor assembly, displaying and adjusting the traction force value at the tail end of the step, and the output power of the first driving device 50, the second driving device 60 and the third driving device 70.
In this embodiment, the upper computer CAN set the traction force at the end of the pedal support base 20, and combine the numerical value of the traction force at the end with the pressure information detected by the sensor assembly to obtain the position, speed, acceleration and other information required by the movement of the patient, and send the obtained movement parameter information to the first servo driver, the second servo driver and the third servo driver through the CAN bus to control the output powers of the first servo motor, the second servo motor and the third servo motor 71, thereby performing the gait rehabilitation training with intelligent following.
As an optional manner, a slide rail is disposed on the first support seat 30, a groove matched with the slide rail is disposed on one side of the second support seat 40 close to the first support seat 30, and the second driving device 60 is configured to drive the first support seat 30 to slide along the slide rail.
As an alternative, the device also comprises a shell 1; the base 10 is disposed at the bottom of the casing 1, an opening is disposed on the casing 1, the pedal support seat 20 is disposed above the opening, and an extending direction of the opening is disposed on a swing track of the connecting member 72.
In this embodiment, the casing 1 is provided to prevent the entire device from being damaged easily and to facilitate the movement of the entire device.
It will be apparent to those skilled in the art that various changes and modifications may be made in the embodiments of the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (10)

1. A gait trainer is characterized by comprising a base, two pedal supporting seats arranged along a first direction and driving components in one-to-one correspondence with the pedal supporting seats; the drive assembly includes:
the first support seat is arranged on the base and can reciprocate along a second direction relative to the base, and the second direction is vertical to the first direction;
a second support base which is arranged on the first support base and can move back and forth along a third direction relative to the first support base, wherein the third direction is vertical to the first direction and the second direction;
the pedal supporting seat is arranged on the second supporting seat and can rotate around a first axis relative to the second supporting seat, and the first axis is parallel to the first direction;
the first driving device is used for driving the first supporting seat to move relative to the base;
the second driving device is used for driving the second supporting seat to move relative to the first supporting seat;
and the third driving device is used for driving the pedal supporting seat to move relative to the second supporting seat.
2. The gait trainer of claim 1, further comprising a master controller electrically connected to the first drive means, the second drive means and the third drive means, a sensor assembly for sensing the pressure experienced by the foot support base;
the sensor assembly is used for sending collected pressure information to the main controller, and the main controller controls output power of the first driving device, the second driving device and the third driving device according to the pressure information and traction data of the foot step tail end set by the upper computer so as to control action of the foot step supporting seat.
3. A gait trainer according to claim 2, wherein the first drive means comprises a first servo motor and a first servo driver;
the first servo motor is located between the base and the first supporting seat, the first servo driver is electrically connected with the main controller and the first servo motor, and the first servo driver is used for receiving an instruction sent by the main controller so as to adjust the output power of the first servo motor.
4. A gait trainer according to claim 2, wherein the second drive means comprises a second servo motor and a second servo driver;
the second servo motor is located the second supporting seat with the first supporting seat deviates from between one side of base, the second servo driver with main control unit reaches the second servo motor electricity is connected, the second servo driver is used for receiving the instruction that main control unit sent, in order to adjust second servo motor's output.
5. A gait trainer according to claim 2, wherein the third drive means comprises a third servo motor and a third servo driver;
the third servo driver is electrically connected with the main controller and the third servo motor, and is used for receiving an instruction sent by the control of the main controller so as to adjust the output power of the third servo motor.
6. The gait trainer of claim 5, wherein the third drive means further includes a linkage;
one end of the connecting piece is connected with one end of the pedal supporting seat close to the base, and the other end of the connecting piece is connected with an output shaft of the third servo motor.
7. A gait training device according to any one of claims 2 to 6, further comprising a host computer connected to the master controller, the host computer being arranged to display the pressure values detected by the sensor assembly, to display and adjust the traction value at the end of the step, and to output power from the first, second and third actuators.
8. The gait training apparatus of claim 1, wherein the first support base is provided with a slide rail, the second support base is provided with a groove matching with the slide rail on a side thereof adjacent to the first support base, and the second driving device is used for driving the first support base to slide along the slide rail.
9. A gait trainer according to claim 1, wherein the second direction is perpendicular to the plane of the base.
10. The gait trainer of claim 6, further comprising a housing;
the base set up in the bottom of casing, be equipped with the opening on the casing, pedal supporting seat is located open-ended top, wherein, open-ended extending direction is located the swing orbit of connecting piece.
CN201911101549.9A 2019-11-12 2019-11-12 Gait training device Pending CN110772398A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911101549.9A CN110772398A (en) 2019-11-12 2019-11-12 Gait training device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911101549.9A CN110772398A (en) 2019-11-12 2019-11-12 Gait training device

Publications (1)

Publication Number Publication Date
CN110772398A true CN110772398A (en) 2020-02-11

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CN201911101549.9A Pending CN110772398A (en) 2019-11-12 2019-11-12 Gait training device

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103083157A (en) * 2013-01-22 2013-05-08 江苏大学 Five-freedom-degree series-parallel lower limb rehabilitation robot
CN104068991A (en) * 2014-07-10 2014-10-01 中国科学院深圳先进技术研究院 Ankle joint rehabilitation device
CN106983632A (en) * 2017-03-27 2017-07-28 江南大学 The transmission mechanism of robot for rehabilitation of anklebone
WO2018191876A1 (en) * 2017-04-19 2018-10-25 王春宝 Ankle rehabilitation training device
CN109528439A (en) * 2018-09-29 2019-03-29 杭州瑞必莅机器人科技有限公司 A kind of rush general formula knee joint bends and stretches function rehabilitation training device
CN208823342U (en) * 2017-12-29 2019-05-07 力迈德医疗（广州）有限公司 Toe sole pedal structure
CN209519296U (en) * 2018-09-21 2019-10-22 南京医科大学 A kind of multi-functional joint recovering telecontrol equipment

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103083157A (en) * 2013-01-22 2013-05-08 江苏大学 Five-freedom-degree series-parallel lower limb rehabilitation robot
CN104068991A (en) * 2014-07-10 2014-10-01 中国科学院深圳先进技术研究院 Ankle joint rehabilitation device
CN106983632A (en) * 2017-03-27 2017-07-28 江南大学 The transmission mechanism of robot for rehabilitation of anklebone
WO2018191876A1 (en) * 2017-04-19 2018-10-25 王春宝 Ankle rehabilitation training device
CN208823342U (en) * 2017-12-29 2019-05-07 力迈德医疗（广州）有限公司 Toe sole pedal structure
CN209519296U (en) * 2018-09-21 2019-10-22 南京医科大学 A kind of multi-functional joint recovering telecontrol equipment
CN109528439A (en) * 2018-09-29 2019-03-29 杭州瑞必莅机器人科技有限公司 A kind of rush general formula knee joint bends and stretches function rehabilitation training device

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Application publication date: 20200211

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