CN110801238A - Lower limb multi-joint constant-speed training testing device - Google Patents

Abstract

The invention discloses a multi-joint isokinetic training test device for lower limbs, which relates to the field of rehabilitation equipment and includes a backrest, a multi-joint isokinetic device and a seat; the backrest is adjustable on the seat, and the multi-joint is adjustable. The constant velocity device includes a fixed block, a drive system, and a connecting rod system, the fixed block is detachably fixed on the seat, the drive system is a six-degree-of-freedom drive system, and the connecting rod system is sequentially fixed to connect the The driving system is fixedly installed on the fixing block. The device of the present invention does not need to use an adapter, can perform isokinetic training tests of multiple joints, has many functional modes and has a compact structure, the conversion of functional modes is simpler and faster, and the overall efficiency is higher.

Description

A lower limb multi-joint isokinetic training test device

technical field

The invention relates to the field of rehabilitation equipment, in particular to a lower limb multi-joint isokinetic training test device.

Background technique

Isokinetic exercise is a new testing training concept. During isokinetic training, the angular velocity of the limb's rotation around a certain axis of its joint caused by muscle contraction remains unchanged, and the length of muscle fibers is shortened or stretched, causing significant joint activity. It is a dynamic contraction, similar to isotonic contraction. . However, in isokinetic motion, what the isokinetic instrument provides is a kind of compliant resistance, and the magnitude of the resistance changes with the magnitude of the muscle contraction tension, similar to isometric contraction. Therefore, isokinetic muscle contraction has some characteristics of isotonic contraction and isometric contraction, and is a special form of muscle contraction. Isokinetic muscle strength test results can be used for auxiliary diagnosis, rehabilitation treatment, efficacy evaluation and prevention of motor system injuries caused by various reasons. Clinically, more and more isokinetic muscle strength tests are used to quantitatively assess muscle dysfunction in patients with knee osteoarthritis (KOA) or dysfunction, stroke, and anterior cruciate ligament (ACL) reconstruction. Rehabilitation goals and plans to provide a scientific basis for systematic rehabilitation.

The existing lower extremity isokinetic test device generally uses a single motor as a power source and uses an isokinetic motion control algorithm to perform isokinetic motion for different single joints of the lower limb. When selecting different joints for testing, adjust the pose of the drive motor and use a specific adapter to combine and disassemble the structure to adapt to the pose of different joints. However, due to the limited variety of commercialized lower extremity isokinetic testing devices, there is no isokinetic device capable of performing isokinetic motion testing of multiple joints at the same time, which brings about the problems of low testing efficiency and poor effect. It also has the disadvantages of large size, heavy weight and high price.

Therefore, those skilled in the art are devoted to developing a lower limb multi-joint isokinetic training test device. The device can not only realize the test of a single joint, but also realize the combination of different joints to carry out synchronous test, and also has the advantages of simple structure and small volume.

SUMMARY OF THE INVENTION

In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is that the existing lower limb isokinetic testing device cannot perform multi-joint synchronous testing, and has the disadvantages of large size and heavy weight.

In order to achieve the above object, the invention provides a lower limb multi-joint isokinetic training test device, comprising: a backrest, a multi-joint isokinetic device and a seat; the backrest is adjustable on the seat, and the multi-joint isokinetic device is The joint isokinetic device includes a fixed block, a drive system, and a connecting rod system, the fixed block is detachably fixed on the seat, the drive system is a six-degree-of-freedom drive system, and the connecting rod systems are sequentially fixed and connected The drive system is fixedly mounted on the fixed block.

Further, the drive system includes a hip joint flexion and extension rotation motor, a hip joint flexion and extension rotation motor, a thigh internal and external rotation rotation motor, a knee joint flexion and extension rotation motor, an ankle joint flexion and extension rotation motor, and a calf internal and external rotation rotation motor; the linkage system It includes a first link, a second link, a third link, a fourth link, a fifth link, a sixth link and a pedal; the first link connects the fixed block with the inside and outside of the hip joint A turning motor, the second link connects the hip joint flexion and extension rotation motor and the hip joint flexion and extension rotation motor, and the third link connects the hip joint flexion and extension rotation motor and the thigh internal and external rotation rotation motor The fourth link connects the thigh internal and external rotation motor and the knee joint flexion and extension rotation motor, the fifth link connects the knee joint flexion and extension rotation motor and the ankle joint flexion and extension rotation motor, the first The six-link is connected to the ankle joint flexion and extension rotating motor and the calf internal and external rotation rotating motor, and the pedal is connected to the calf internal and external rotation rotating motor.

Further, the hip joint varus rotation motor is configured to drive the first link and the second link to rotate relative to each other, and the hip joint flexion and extension rotation motor is configured to drive the second link and all the The third link rotates relatively, the thigh external rotation rotation motor is configured to drive the third link and the fourth link to rotate relatively, and the knee joint flexion and extension rotation motor is configured to drive the fourth link The link and the fifth link rotate relative to each other, the ankle joint flexion and extension rotation motor is configured to drive the fifth link and the sixth link to rotate relative to each other, and the calf internal and external rotation rotation motor is configured to drive The sixth link and the pedal are relatively rotated, and the pedal is configured to support the sole plate.

Further, the rotation axis of the hip joint varus rotation motor and the hip joint flexion and extension rotation motor vertically intersect at one point, and the rotation axis of the thigh internal rotation rotation motor is perpendicular to the rotation of the hip joint varus rotation motor. The axis and the rotation axis of the hip joint flexion and extension rotation motor.

Further, it also includes an external gear and a turntable bearing, the external gear is fixedly connected with the output shaft of the thigh-external-rotating rotary motor, and the inner ring of the turntable bearing and the body of the thigh-external-rotating rotary motor are fixedly mounted on the outer shaft. On the third connecting rod, the outer ring of the turntable bearing is fixedly mounted on the fourth connecting rod, and the external gear and the outer ring of the turntable bearing form a gear transmission.

Further, the rotation axis of the hip joint varus rotation motor and the hip joint flexion and extension rotation motor intersects at one point with the rotation center axis of the turntable bearing.

Further, the rotation axis of the knee joint flexion and extension rotation motor is configured to pass through the rotation center of the patient's knee joint, and the rotation center axis of the knee joint flexion and extension rotation motor and the turntable bearing intersect at one point.

Further, the motion axes of the ankle joint flexion and extension rotary motor and the calf internal and external rotation rotary motor intersect at one point.

Further, one or more of the first link, the second link, the third link, the fourth link, the fifth link and the sixth link The length is adjustable.

Further, the fixing block is provided with a dovetail groove, the seat is provided with a guide rail matched with the dovetail groove, and the dovetail groove and the guide rail are fastened by screws or bolts.

Further, the multi-joint constant velocity device controls the rotation of the drive system through a constant velocity model.

Compared with the prior art, the present invention has the following beneficial technical effects:

1. The present invention adopts a plurality of independent drive motors, and can realize the combination of different rotating motors to complete the isokinetic motion test of multiple joints without using an adapter;

2. The length of the connecting rod system of the present invention can be adjusted, which can adapt to the individual differences of different test patients, and improve the experience and test efficiency of the test patients;

3. The present invention is provided with a slewing bearing, and each joint adopts the principle of axis intersection, which reduces the discomfort caused by the deviation of the movement of each joint;

4. The structure of the present invention is simple, the volume is small, and it is easy to popularize and apply.

The concept, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings, so as to fully understand the purpose, characteristics and effects of the present invention.

Description of drawings

Fig. 1 is the overall schematic diagram of a preferred embodiment of the present invention;

FIG. 2 is a schematic diagram of a multi-joint isokinetic device according to a preferred embodiment of the present invention.

Among them, 1-backrest, 2-multi-joint isokinetic device, 3-seat, 21-fixed block, 22- hip joint rotation motor, 23- hip joint flexion and extension rotation motor, 24- thigh internal rotation rotation motor, 25 - External gear, 26- Turntable bearing, 261- Outer ring, 262- Inner ring, 27- Knee joint flexion and extension rotation motor, 28- Ankle joint flexion and extension rotation motor, 29- Calf internal and external rotation rotation motor, 201- First link, 202-second link, 203-third link, 204-fourth link, 205-fifth link, 206-sixth link, 207-pedal.

Detailed ways

The following describes several preferred embodiments of the present invention with reference to the accompanying drawings, so as to make its technical content clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned herein.

In the drawings, structurally identical components are denoted by the same numerals, and structurally or functionally similar components are denoted by like numerals throughout. The size and thickness of each component shown in the drawings are arbitrarily shown, and the present invention does not limit the size and thickness of each component. In order to make the illustration clearer, the thicknesses of components are appropriately exaggerated in some places in the drawings.

As shown in Figure 1 and Figure 2, the present embodiment provides a lower limb multi-joint isokinetic training test device, comprising: a backrest 1, a multi-joint isokinetic device 2 and a seat 3; the backrest 1 is adjustable on the seat 3, the multi-joint isokinetic device 2 includes a fixed block 21, a drive system, and a connecting rod system. The fixed block 21 is detachably fixed on the seat 3, and the drive system is a six-degree-of-freedom drive system, and the connecting rod system is connected in sequence. Drive the system and fix the drive system on the fixing block 21 .

The lower part of the seat 3 is provided with a fixed support leg, and the bottom of the support leg is provided with a circular fixed base; the fixed block 21 is provided with a dovetail groove, and the seat 3 is provided with a guide rail matched with the dovetail groove, through the dovetail groove and the guide rail. In cooperation, the fixed block 21 can slide relative to the seat 3 to adjust its position on the seat 3, and the dovetail groove and the guide rail are fastened by screws or bolts.

The drive system includes a hip joint flexion and extension rotation motor 22, a hip joint flexion and extension rotation motor 23, a thigh inner and outer rotation rotation motor 24, a knee joint flexion and extension rotation motor 27, an ankle joint flexion and extension rotation motor 28 and a calf internal and external rotation rotation motor 29; the link system includes The first link 201, the second link 202, the third link 203, the fourth link 204, the fifth link 205, the sixth link 206 and the pedal 207; the first link 201 is a rectangular member, the first link One end of the connecting rod 201 is connected to the fixing block 21 , the other end of the first connecting rod 201 is connected to the body of the hip joint varus rotation motor 22 , the second link 202 is a rectangular member, and one end of the second link 202 is connected to the hip joint varus rotation motor 22 The other end of the second link 202 is connected to the body of the hip joint flexion and extension rotation motor 23, the third link 203 is a rectangular member, and one end of the third link 203 is connected to the output shaft of the hip joint flexion and extension rotation motor 23, and the third link The other end of the rod 203 is connected to the body of the internal and external rotation rotating motor 24 of the thigh. As shown in FIG. 1 , the rotation axes of the rotating motor 22 for flexion and extension of the hip joint and the rotating motor 23 for flexion and extension of the hip joint are perpendicular to the point O ₁ ; 22 is configured to drive the first link 201 and the second link 202 to rotate relatively, the hip joint flexion and extension rotation motor 23 is configured to drive the second link 202 and the third link 203 to rotate relatively; the external gear 25 is fixedly installed on the thigh The output shaft of the rotary motor 24 is rotated inside and out. The turntable bearing 26 includes an inner ring 262 and an outer ring 261. The inner ring 262 is fixedly installed on the third connecting rod 203. The outer gear 25 and the outer ring 261 of the turntable bearing 26 constitute a gear transmission. The fourth link 204 is a plate-shaped member, the fourth link 204 is fixedly installed on the outer ring 261, and the thigh-inward and outward rotation rotary motor 24 is configured to drive the fourth link 204 relative to the outer ring 261 by driving the gear transmission between the outer gear 25 and the outer ring 261. The third connecting rod 203 rotates; the central axis of the turntable bearing 26 passes through the O ₁ point and is perpendicular to the rotation axis of the hip joint varus rotation motor 22 and the hip joint flexion and extension rotation motor 23; the body of the knee joint flexion and extension rotation motor 27 is fixedly installed on the In the fourth link 204, the rotation axis of the knee flexion and extension rotation motor 27 intersects perpendicularly with the central axis of the turntable bearing 26 at point O ₂ , and the rotation axis of the knee flexion and extension rotation motor 27 is configured to pass through the rotation center of the knee joint of the patient, The fifth link 205 is a rectangular member, one end of the fifth link 205 is connected to the output shaft of the knee joint flexion and extension rotation motor 27, the other end of the fifth link 205 is connected to the body of the ankle joint flexion and extension rotation motor 28, and the sixth link 206 It is a rectangular member, one end of the sixth connecting rod 206 is connected to the output shaft of the ankle joint flexion and extension rotating motor 28, the other end of the sixth connecting rod 206 is connected to the body of the calf internal and external rotation rotating motor 29, the pedal 207 is a plate-shaped member, and the One end is connected to the output shaft of the calf internal and external rotation rotating motor 29, and the movement axis of the ankle joint flexion and extension rotating motor 28 and the calf internal and external rotation rotating motor 29 intersect at point _O3 ; the knee joint flexion and extension rotating motor 27 is configured to drive the fourth link 204 and the fifth link 205 to rotate relative to each other, the ankle joint flexion and extension rotation motor 28 is configured to drive the fifth link 205 and the sixth link 206 to rotate relative to each other, and the calf internal and external rotation motor 29 is configured to rotate. The sixth link 206 and the pedal 207 are configured to rotate relative to each other, and the pedal 207 is configured to support the sole plate.

The length of one or more of the first link 201 , the second link 202 , the third link 203 , the fourth link 204 , the fifth link 205 and the sixth link 206 can be adjusted, in this embodiment Preferably, the lengths of the second link 202 , the third link 203 and the fifth link 205 can be adjusted.

In this embodiment, the multi-joint constant velocity device 2 controls the rotation of each motor of the drive system through the constant velocity model. The multi-joint constant velocity device 2 in this embodiment uses the analysis method based on the screw theory to perform constant velocity control, and select a suitable base Coordinate system, calculate the motion screw coordinates and matrix indices corresponding to each joint, obtain the corresponding kinematics and dynamic equations, and carry out isokinetic motion analysis and control by defining the concepts of constant speed of screw and constant speed of end. The drive system of the multi-joint constant velocity device 2 is provided with 6 independent drive motors, which are arranged in series through a mechanical structure.

The fixed block 21 can be moved, adjusted and fixed on the seat 3, and can be disassembled. When the test patient sits on the test seat 3, the joints of the lower limbs correspond to the joints of the device, and the lengths of the second link 202, the third link 203 and the fifth link 205 between the joints are adjusted to suit the length of the lower limbs. Different lengths, and the rotation center of the joint is coincident with the rotation axis of the device motor to reduce the incompatibility during the movement, and then the lower limb is fixed, and the fixed block 22 and the backrest 1 are adjusted by adjusting the multi-joint isokinetic device 2 to adapt to the Test the patient's posture. During the test training, the device can select the required degree of freedom of movement according to the needs and adjust the other irrelevant degrees of freedom to a certain position, then lock and control the corresponding motor to work within a specific speed and a specific angle range according to the needs. Perform multi-joint isokinetic test training. At the same time, during the test process, real-time detection and recording of motor torque information is performed.

The entire device of the present invention can be adjusted and disassembled on the seat, the connecting rods between the joints can be adjusted and fixed to suit different test and training groups, and the three axes of the hip joint intersect at one point, and the two rotation axes of the ankle joint intersect at one point. At one point, in order to reduce the discomfort during exercise.

The preferred embodiments of the present invention have been described in detail above. It should be understood that many modifications and changes can be made according to the concept of the present invention by those skilled in the art without creative efforts. Therefore, all technical solutions that can be obtained by those skilled in the art through logical analysis, reasoning or limited experiments on the basis of the prior art according to the concept of the present invention shall fall within the protection scope determined by the claims.

Claims (10)

1. A lower limb multi-joint constant velocity training test device is characterized by comprising a backrest, a multi-joint constant velocity device and a seat; the backrest is adjustably installed on the seat, the multi-joint constant-speed device comprises a fixing block, a driving system and a connecting rod system, the fixing block is detachably and fixedly installed on the seat, the driving system is a six-degree-of-freedom driving system, and the connecting rod system is sequentially and fixedly connected with the driving system and fixedly installs the driving system on the fixing block.

2. The lower limb multi-joint constant velocity training test device of claim 1, wherein the drive system comprises a hip joint in-out rotation motor, a hip joint flexion and extension rotation motor, a thigh internal and external rotation motor, a knee joint flexion and extension rotation motor, an ankle joint flexion and extension rotation motor and a shank internal and external rotation motor; the connecting rod system comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod and a pedal; the first connecting rod is connected with the fixed block and the hip joint inward and outward turning rotating motor, the second connecting rod is connected with the hip joint inward and outward turning rotating motor and the hip joint flexion and extension rotating motor, the third connecting rod is connected with the hip joint flexion and extension rotating motor and the thigh inward and outward turning rotating motor, the fourth connecting rod is connected with the thigh inward and outward turning rotating motor and the knee joint flexion and extension rotating motor, the fifth connecting rod is connected with the knee joint flexion and extension rotating motor and the ankle joint flexion and extension rotating motor, the sixth connecting rod is connected with the ankle joint flexion and extension rotating motor and the shank inward and outward turning rotating motor, and the pedal is connected with the shank inward and outward turning rotating motor.

3. The lower limb multi-joint constant velocity training test device of claim 2, the hip joint varus and valgus rotating motor is configured to drive the first connecting rod and the second connecting rod to rotate relatively, the hip joint flexion and extension rotating motor is configured to drive the second connecting rod and the third connecting rod to rotate relatively, the thigh internal-external rotation rotating motor is configured to drive the third link and the fourth link to rotate relatively, the knee joint flexion and extension rotating motor is configured to drive the fourth connecting rod and the fifth connecting rod to rotate relatively, the ankle flexion and extension rotating motor is configured to drive the fifth link and the sixth link to rotate relatively, the shank internal-external rotation rotating motor is configured to drive the sixth connecting rod and the pedal to rotate relatively, and the pedal is configured to support a foot bottom plate.

4. The lower limb multi-joint constant velocity training test device according to claim 3, further comprising an external gear and a turntable bearing, wherein the external gear is fixedly connected with an output shaft of the thigh internal and external rotation electric machine, an inner ring of the turntable bearing and a body of the thigh internal and external rotation electric machine are fixedly mounted on the third connecting rod, an outer ring of the turntable bearing is fixedly mounted on the fourth connecting rod, and the external gear and the outer ring of the turntable bearing form gear transmission.

5. The device for training and testing the multi-joint constant velocity of the lower limbs according to claim 4, wherein the rotation axes of the hip joint varus-valgus rotary motor and the hip joint flexion-extension rotary motor intersect with the rotation central axis of the turntable bearing at a point.

6. The device as claimed in claim 5, wherein the axis of rotation of the knee flexion-extension rotary motor is configured to pass through the center of rotation of the knee joint of the patient, and the central axes of rotation of the knee flexion-extension rotary motor and the turntable bearing intersect at a point.

7. The device for testing the isokinetic training of the multi-joint of the lower limbs according to claim 6, wherein the motion axes of the ankle flexion and extension rotating motor and the lower leg internal and external rotation rotating motor are intersected at a point.

8. The device of claim 7, wherein one or more of the first link, the second link, the third link, the fourth link, the fifth link, and the sixth link is adjustable in length.

9. The lower limb multi-joint constant velocity training test device according to claim 8, wherein a dovetail groove is formed in the fixing block, a guide rail matched with the dovetail groove is arranged on the seat, and the dovetail groove and the guide rail are fastened through screws or bolts.

10. The lower limb multi-joint constant velocity training test device of claim 9, wherein the multi-joint constant velocity device controls the drive system to rotate through a constant velocity model.

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