CN111150605A - Wearable flexible ankle joint assist drive device based on rope transmission - Google Patents
Wearable flexible ankle joint assist drive device based on rope transmission Download PDFInfo
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- CN111150605A CN111150605A CN202010036200.8A CN202010036200A CN111150605A CN 111150605 A CN111150605 A CN 111150605A CN 202010036200 A CN202010036200 A CN 202010036200A CN 111150605 A CN111150605 A CN 111150605A
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 38
- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 26
- 210000002683 foot Anatomy 0.000 claims abstract description 30
- 230000033001 locomotion Effects 0.000 claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 11
- 208000012661 Dyskinesia Diseases 0.000 claims abstract description 3
- 238000005381 potential energy Methods 0.000 claims abstract description 3
- 239000000463 material Substances 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 4
- 238000010146 3D printing Methods 0.000 claims description 2
- 230000009189 diving Effects 0.000 claims description 2
- 238000004146 energy storage Methods 0.000 claims description 2
- 239000004744 fabric Substances 0.000 claims description 2
- 230000035699 permeability Effects 0.000 claims description 2
- 229910001220 stainless steel Inorganic materials 0.000 claims description 2
- 239000010935 stainless steel Substances 0.000 claims description 2
- 244000309466 calf Species 0.000 claims 2
- 238000011084 recovery Methods 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 7
- 230000007547 defect Effects 0.000 abstract 1
- 239000010410 layer Substances 0.000 description 11
- 238000010586 diagram Methods 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 239000011229 interlayer Substances 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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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
- A61H1/0266—Foot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/112—Gait analysis
-
- 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
- A61H1/0218—Drawing-out devices
-
- 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
- A61H2201/165—Wearable interfaces
-
- 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
- A61H2201/1664—Movement of interface, i.e. force application means linear
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
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- Dentistry (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
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- Molecular Biology (AREA)
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- Rehabilitation Tools (AREA)
Abstract
The invention discloses a wearable flexible ankle joint power-assisted mechanism based on rope transmission. Wherein, the rope transmission mechanical module provides driving force, and the foot part is pulled by the rope to complete dorsiflexion movement; the spring return module provides elastic potential energy, makes up the defect that the rope transmission cannot be driven reversely, and provides spring tension for plantar flexion of the ankle joint; the foot wearing module mainly integrates a pressure sensor, an inclination angle sensor and an integrated insole; the shank donning module is mainly used for binding the rope transmission module and the spring module to the shank. The wearing mechanism utilizes the steering engine to drive the flexible rope to transmit to the front end of the foot to assist dorsiflexion of the ankle joint, and simultaneously combines the tension spring to assist plantarflexion at the heel of the foot. The invention introduces the flexible rope transmission technology and flexible wearing into the ankle joint assistance field, has compact integral structure, convenient and comfortable wearing and meets the walking assistance requirement of patients with ankle joint dyskinesia.
Description
Technical Field
The invention belongs to the technical field of robots for helping the old and the disabled, and designs a wearable flexible ankle joint power-assisting mechanism based on rope transmission.
Background
The ankle joint is an important joint for connecting the leg part and the foot part, provides support and movement for the whole human body, and is easy to damage; the ankle joint assistance for patients with ankle joint dyskinesia and partially functionally degenerated elderly is very important; the application of the robot technology in the field of ankle joint assistance is from a parallel mechanism to a rigid assistance robot, and finally, the robot technology develops towards the direction of flexible assistance.
According to the invention, the ankle joint assistance requirement is analyzed, and the development work of an ankle joint assistance robot principle model machine is developed; the invention introduces a flexible rope transmission technology and flexible wearing into the field of ankle joint assistance, and designs a wearable flexible ankle joint assistance mechanism based on rope transmission.
Disclosure of Invention
The invention designs a wearable flexible ankle joint power-assisted mechanism based on rope transmission, which introduces the flexible rope transmission technology and flexible wearing into the ankle joint power-assisted field to solve the problems mentioned in the background technology.
The structure of the invention utilizes the steering engine to drive the flexible rope to transmit to the front end of the foot to assist the dorsiflexion movement of the ankle joint, and simultaneously combines the tension spring to assist the dorsiflexion movement of the heel of the foot.
In order to achieve the above purpose, the invention provides the following technical scheme; the utility model provides a flexible ankle joint assist drive device of wearable based on rope transmission, it has included four modules of rope transmission mechanical module, spring answer module, foot wearing module and shank wearing module, realizes the dorsiflexion motion of foot through steering wheel drive flexible rope pulling foot wearing module, and the rethread spring answers the pulling of module and replies the plantarflexion motion of realization foot.
As a further scheme of the invention, the rope transmission mechanical module is characterized in that a driving steering engine and a transmission device are carried, is a power source of all modules, and has important function.
As a further scheme of the invention, the transmission device is characterized by comprising a connecting plate, a wire spool, a wire clamping pulley and the like, wherein the connecting plate plays a role in connecting the steering engine with the wire spool and the like, and a slot is designed at the rear part for inserting a magic tape and then connecting the magic tape with the shank wearing module.
As a further scheme of the invention, the foot wearing module is characterized by consisting of an integrated insole and a wearable shoe part, is a transmission structure, transmits the pulling force of a driving steering engine to the foot, pulls the foot to perform dorsiflexion movement, and is also a flexible wearing part worn on the foot by a patient.
As a further scheme of the invention, the integrated insole is characterized in that the integrated end actuating mechanism integrates sensing and wearing, and plays roles in assisting foot movement, detecting ankle joint information in real time and the like.
As a further proposal of the invention, the integrated insole is characterized in that the integrated insole is a three-layer integrated insole, the three-layer structure is an upper layer flexible insole, a middle layer structural member and a lower layer flexible insole which are connected by double-sided buckle rivets from top to bottom.
As a further scheme of the invention, the middle layer structural member is characterized by consisting of a middle layer front end structure and a middle layer rear end structure, and additionally, a distributed sensor is required to be installed; the front end of the middle layer plays a role in connecting the ropes, the final action points of the rope transmission ropes are positioned at two ends of the side surface of the insole, the front end of the middle layer determines the action points of the tail ends of the ropes and is positioned at the small holes at the outermost sides of two sides of the structure, and other holes are used for riveting double-sided buckle rivets; the rear end of the middle layer is mainly used for connecting the tail end of the spring to play a role in connection and bearing, and other holes are used for riveting the double-sided buckle rivet; the material is 3D printing PLA material as two structural component materials.
As a further aspect of the invention, the spring return module is characterized by mainly comprising a tension spring and a connecting device, and being capable of storing elastic potential energy in a dorsiflexion stage and assisting plantarflexion by means of elastic force in a plantarflexion stage. The energy storage stage of the spring mainly comes from the process of supporting the human body to lean forward and the process of swinging the steering engine to pull the rope to assist the dorsiflexion.
As a further aspect of the invention, the tension spring is characterized by being made of stainless steel material with the length of 500mm and the elastic coefficient of 0.38N/mm.
As a further scheme of the invention, the shank wearing module is characterized in that the shank wearing module is composed of a shank binding belt and a magic tape which can be freely adjusted, a rope transmission mechanical module is bound to the shank to play a role in connection, and meanwhile, a spring return module is carried.
As a further scheme of the invention, the shank wearing module is characterized in that a shank binding band is made of high-elasticity diving cloth with good air permeability, the material of the binding band is soft and is attached to the contour of a shank, the strength is high, the stretching deformation is not easy to occur, and the shank wearing module can bear the force of a rope transmission mechanical module without generating obvious deformation so as not to influence the precision; the shank bandage and the rope transmission mechanical module are connected through a magic tape, and the wearing is convenient and adjustable.
The structure of the invention introduces the flexible rope transmission technology and flexible wearing into the ankle joint power assisting field, the flexible structure has the advantages of light weight, comfort, good man-machine compatibility and the like, the overall design structure is compact, and the wearing is convenient and comfortable.
Drawings
FIG. 1 is a schematic view of the overall mechanism of the present invention.
FIG. 2 is a schematic diagram of the cord drive mechanism module of the present invention.
FIG. 3 is a view of the construction of the one-piece insole of the foot-worn module of the present invention.
Fig. 4 is a schematic diagram of the overall functional modules of the present invention.
In the figure, 1-a spring return module, 2-a lower leg wearing module, 3-a lower leg, 4-a rope transmission mechanical module, 5-a rope, 6-a foot wearing module, 7-a bandage connecting plate, 8-an anti-drop rope retaining ring structure, 9-a pulley, 10-a winding disc, 11-a steering engine connecting plate, 12-a bandage clamping groove, 13-a steering engine, 14-a flexible insole, 15-a front pressure sensor, 16-a sandwich bracket, 17-a flexible insole, 18-a middle sandwich plate, 19-a spring connecting piece and 20-a rear pressure sensor.
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.
The invention provides a technical scheme that: a wearable flexible ankle joint assisting mechanism based on rope transmission comprises a 1-spring return module, a 2-shank wearing module, a 3-shank, a 4-rope transmission mechanical module, a 5-rope, a 6-foot wearing module, a 7-bandage connecting plate, an 8-anti-falling rope retaining ring structure, a 9-pulley, a 10-winding disc, a 11-steering engine connecting plate, a 12-bandage clamping groove, a 13-steering engine, a 14-lower flexible insole, a 15-front pressure sensor, a 16-interlayer bracket, a 17-upper flexible insole, an 18-middle interlayer plate, a 19-spring connecting piece, a 20-rear pressure sensor and the like.
The wearing process of the patient: firstly wearing the foot wearing module 6, then wearing the shank wearing module 2, connecting the rope transmission mechanical module 4 and the spring return module 1 with the foot wearing module 6 and the shank wearing module 2 through the connecting structure, adjusting the length of the rope 5, and finishing the wearing process; the whole wearing process is simple and convenient, and the effect is comfortable after wearing.
The dorsiflexion motion of the foot is realized by connecting a shank wearing module 2 worn on the shank with a rope transmission mechanical module 4 to drive a flexible rope to pull a foot wearing module 6, and then the dorsiflexion motion of the foot is realized by pulling and restoring through a spring restoring module 1; the gait can be detected through the integrated insole shown in fig. 3, and gait detection control is realized.
Claims (11)
1. A wearable flexible ankle joint assisting mechanism based on rope transmission is characterized by comprising four modules, namely a rope transmission mechanical module, a spring return module, a foot wearing module and a shank wearing module, wherein the flexible rope is driven by a steering engine to pull the foot wearing module to realize dorsiflexion movement of feet, and then the flexible rope is pulled by the spring return module to return to realize plantarflexion movement of the feet, so that walking assistance of patients with ankle joint dyskinesia is assisted; the whole structure is compact, and the wearing is convenient and comfortable.
2. The rope transmission mechanical module as claimed in claim 1, wherein the driving steering engine and the transmission device are carried, and are power sources of all modules, and have important functions.
3. The transmission device as claimed in claim 2, which is composed of a connecting plate, a wire spool, a wire-clamping pulley and the like, wherein the connecting plate plays a role of connecting the steering engine and the wire spool, and the like, and a slot is designed at the rear part for inserting a magic tape and then connecting with the shank wearing module.
4. The foot-worn module of claim 1, which is composed of an integrated insole and a wearable shoe part, and is a transmission structure, and the integrated insole and the wearable shoe part transmit the pulling force of the driving steering engine to the foot, pull the foot to perform dorsiflexion movement, and are also flexible wearing parts worn on the foot by the patient.
5. The one-piece insole as claimed in claim 4, wherein the sensing and wearing integrated end actuator functions to assist foot movement and detect ankle joint information in real time.
6. The one-piece insole of claim 4, which is a three-layer one-piece insole, the three-layer structure being an upper flexible insole, a middle structural member and a lower flexible insole, which are connected by a double-sided rivet, from top to bottom.
7. The intermediate layer structure as claimed in claim 6, which is composed of an intermediate layer front end structure and an intermediate layer rear end structure, and is additionally provided with distributed sensors; the front end of the middle layer plays a role in connecting the ropes, the final action points of the rope transmission ropes are positioned at two ends of the side surface of the insole, the front end of the middle layer determines the action points of the tail ends of the ropes and is positioned at the small holes at the outermost sides of two sides of the structure, and other holes are used for riveting double-sided buckle rivets; the rear end of the middle layer is mainly used for connecting the tail end of the spring to play a role in connection and bearing, and other holes are used for riveting the double-sided buckle rivet; the material is 3D printing PLA material as two structural component materials.
8. The spring return module of claim 1, which consists essentially of a tension spring and a connecting means, capable of storing elastic potential energy during dorsiflexion and assisting plantarflexion with elastic force during plantarflexion. The energy storage stage of the spring mainly comes from the process of supporting the human body to lean forward and the process of swinging the steering engine to pull the rope to assist the dorsiflexion.
9. The tension spring according to claim 8, wherein the tension spring is made of stainless steel material having a length of 500mm and an elastic modulus of 0.38N/mm.
10. The module is worn on the lower leg according to claim 1, and is characterized in that the module is composed of a freely adjustable lower leg binding belt and a magic tape, the rope transmission mechanical module is bound to the lower leg to play a role in connection, and meanwhile, the module is also provided with a spring recovery module.
11. The module as claimed in claim 1, wherein the calf strap is made of highly elastic diving cloth with good air permeability, the strap material is soft to fit the calf contour, and the strap material has high strength and is not easy to stretch and deform, and can bear the force of the rope transmission mechanical module without significant deformation to affect the precision; the shank bandage and the rope transmission mechanical module are connected through a magic tape, and the wearing is convenient and adjustable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010036200.8A CN111150605A (en) | 2020-01-14 | 2020-01-14 | Wearable flexible ankle joint assist drive device based on rope transmission |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010036200.8A CN111150605A (en) | 2020-01-14 | 2020-01-14 | Wearable flexible ankle joint assist drive device based on rope transmission |
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| Publication Number | Publication Date |
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| CN111150605A true CN111150605A (en) | 2020-05-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010036200.8A Pending CN111150605A (en) | 2020-01-14 | 2020-01-14 | Wearable flexible ankle joint assist drive device based on rope transmission |
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| CN (1) | CN111150605A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112370314A (en) * | 2020-11-10 | 2021-02-19 | 电子科技大学 | Flexible ankle joint of stretch-draw dresses helping hand equipment based on double-wire pair drive |
| CN112677138A (en) * | 2020-12-18 | 2021-04-20 | 华中科技大学 | Auxiliary force controllable wearable passive ankle exoskeleton and control method thereof |
| CN112917462A (en) * | 2021-04-01 | 2021-06-08 | 杭州昆泰机器人有限公司 | Lifting line type ankle joint power assisting device |
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| US20130296754A1 (en) * | 2012-05-05 | 2013-11-07 | Becker Orthopedic Appliance Company | Orthotic joint and knee-ankle-foot orthotic device incorporating same |
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| CN112677138A (en) * | 2020-12-18 | 2021-04-20 | 华中科技大学 | Auxiliary force controllable wearable passive ankle exoskeleton and control method thereof |
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| CN112917462A (en) * | 2021-04-01 | 2021-06-08 | 杭州昆泰机器人有限公司 | Lifting line type ankle joint power assisting device |
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Application publication date: 20200515 |
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