CN111588588A - Three-degree-of-freedom ankle joint rehabilitation device - Google Patents
Three-degree-of-freedom ankle joint rehabilitation device Download PDFInfo
- Publication number
- CN111588588A CN111588588A CN202010413160.4A CN202010413160A CN111588588A CN 111588588 A CN111588588 A CN 111588588A CN 202010413160 A CN202010413160 A CN 202010413160A CN 111588588 A CN111588588 A CN 111588588A
- Authority
- CN
- China
- Prior art keywords
- arc
- shaped
- freedom
- ankle joint
- degree
- 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.)
- Granted
Links
- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 47
- 230000033001 locomotion Effects 0.000 claims abstract description 61
- 210000002683 foot Anatomy 0.000 claims description 32
- 230000008093 supporting effect Effects 0.000 claims description 19
- 239000000463 material Substances 0.000 claims description 10
- 229920002635 polyurethane Polymers 0.000 claims description 10
- 239000004814 polyurethane Substances 0.000 claims description 10
- 238000005452 bending Methods 0.000 claims description 8
- 239000003638 chemical reducing agent Substances 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000003139 buffering effect Effects 0.000 claims description 5
- 230000001788 irregular Effects 0.000 claims description 4
- 230000003014 reinforcing effect Effects 0.000 claims description 2
- 244000309466 calf Species 0.000 abstract description 5
- 208000020431 spinal cord injury Diseases 0.000 abstract description 5
- 210000003371 toe Anatomy 0.000 description 11
- 210000003423 ankle Anatomy 0.000 description 6
- 210000003141 lower extremity Anatomy 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 206010039203 Road traffic accident Diseases 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 210000001699 lower leg Anatomy 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 208000001738 Nervous System Trauma Diseases 0.000 description 1
- 208000012902 Nervous system disease Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 208000018737 Parkinson disease Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000000653 nervous system Anatomy 0.000 description 1
- 208000028412 nervous system injury Diseases 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
-
- 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
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention provides a three-degree-of-freedom ankle joint rehabilitation device which can be divided into a toe flexion and dorsiflexion degree of freedom, an adduction and abduction degree of freedom and an internal rotation and external rotation degree of freedom according to three motion forms of an ankle joint. Wherein, the toe flexion-dorsiflexion and adduction-abduction are active degrees of freedom, a driving device is needed, and the internal rotation and external rotation are passive degrees of freedom, so as to be convenient for fitting the ankle joint structure of a person and carry out rehabilitation training on the ankle joint of the person by matching the former two degrees of freedom; the device comprises a calf plate, a U-shaped support frame, a toe dorsiflexion driving device, an arc-shaped motion block, two groups of arc-shaped guide rails, two groups of idler wheels, a group of arc-shaped racks, a gear, an adduction and abduction driving motor, a plantar force sensor, a sensor connecting plate, an antifriction base plate, a sole plate, an annular pressing plate and an end cover. The ankle joint rehabilitation training device can realize three-degree-of-freedom movement of the ankle joint, has the characteristics of compact structure, small size, wide application range and the like, and can help spinal cord injury patients to carry out active rehabilitation training on the ankle joint of the spinal cord injury patients.
Description
Technical Field
The invention relates to an ankle joint rehabilitation device, in particular to a three-degree-of-freedom ankle joint rehabilitation device suitable for spinal cord injury patients.
Background
Along with the better economic development of China, the living standard of people is improved day by day, but the aging problem of the population is more and more prominent, and especially the number of patients with nervous system diseases such as cerebral apoplexy, spinal cord injury, Parkinson's disease and the like is increased continuously. In addition, the rapid development of vehicles also brings the frequent problem of traffic accidents, many people cause the damage of nervous systems due to traffic accidents, and the problems of paralysis and the like are caused, and the most difficult problem of the patients is how to solve the rehabilitation problem, especially the ankle rehabilitation problem of lower limbs.
Therefore, the bionic ankle joint rehabilitation device which is light, convenient and compact in structure is necessary to be developed, and meanwhile, the bionic ankle joint rehabilitation device can be installed on a lower limb rehabilitation robot to realize the overall rehabilitation training of the lower limbs of the patient.
Disclosure of Invention
The invention aims to provide a three-degree-of-freedom ankle joint rehabilitation device which is light, convenient, compact in structure and easy to install and control.
Specifically, the invention provides a three-degree-of-freedom ankle joint rehabilitation device which comprises a calf plate, a U-shaped support frame, a toe dorsiflexion driving device, an arc motion block, two groups of arc guide rails, two groups of rollers, one group of arc racks, a gear, an adduction abduction driving device, a sole force sensor, a sensor connecting plate, an antifriction base plate, a sole plate, an annular pressing plate and an end cover,
the bottom of the U-shaped support frame is in a U-shaped fork shape, and the upper part of the U-shaped support frame extends out of the rear side face of the vertical plate and is integrally in an L shape; the toe flexion and dorsiflexion driving device comprises a servo motor and a harmonic reducer, and is fixedly connected to the surface of the shank plate; the vertical plate part of the U-shaped support frame is connected with the harmonic reducer to form a first rotating pair, so that the U-shaped support frame is integrally rotated, and the toe bending and back bending freedom degree of the ankle joint is realized;
the foot sole force sensor comprises an arc motion block, a foot sole force sensor and a foot sole force sensor, wherein the arc motion block is provided with an arc groove used for mounting an arc rack, two groups of arc guide rails are symmetrically arranged on two side surfaces of the arc motion block and comprise a first group of arc guide rails and a second group of arc guide rails, the middle cross section of each group of arc guide rails is overlapped with the middle cross section of the arc motion block, a concave groove is arranged in the middle of the arc motion block, and the concave groove is used for mounting the foot sole force sensor; the two groups of rollers comprise a first group of rollers and a second group of rollers, and the two groups of rollers are completely symmetrically arranged on the mounting surface of the U-shaped fork and are respectively tangent to the two groups of arc-shaped guide rails; the adduction and abduction driving device is arranged in a long hole of the U-shaped supporting frame and is connected with the gear, the arc-shaped rack is meshed with the gear, and the gear and the rack are meshed for transmission to drive the arc-shaped moving block to do arc-shaped movement, so that the adduction and abduction freedom degree of the ankle joint is realized;
the sensor connecting plate is provided with four limiting blocks, a first end of the sensor connecting plate is connected with the sensor, and a second end of the sensor connecting plate is connected with the annular pressing plate through the limiting blocks; the first side surface of the antifriction base plate is contacted with the sensor connecting plate, and the second side surface of the antifriction base plate is contacted with the foot bottom plate; the foot bottom plate is provided with an arc-shaped groove, the arc-shaped groove is arranged between the antifriction base plate and the annular pressing plate, and the arc-shaped groove and the sensor connecting plate form a second revolute pair; the end cover is connected to the foot bottom plate, and the plane of the end cover is superposed with the plane of the foot bottom plate; the sole plate moves along the arc-shaped groove so as to realize the internal rotation and external rotation freedom degree of the ankle joint.
Preferably, the degree of freedom of internal rotation and external rotation of the ankle joint is a passive degree of freedom, and the internal rotation and external rotation accompanying movement is generated when the ankle joint performs adduction and abduction and toe flexion and dorsiflexion movements.
Preferably, the two groups of rollers are symmetrically installed in the holes of the U-shaped support frame, each group of rollers comprises two pressing wheels, three supporting wheels and two limiting wheels, the limiting wheels play a role in guiding and limiting the guide rail, the two pressing wheels and the three supporting wheels are distributed on two circumferences at intervals of a certain angle, and the circle centers of the distribution circles where the two pressing wheels and the three supporting wheels are located and the circle centers of the arc-shaped guide rail and the arc-shaped rack are located on the same axis.
Preferably, the U-shaped support frame is symmetrically provided with two groups of pin holes, each group of pin holes is provided with two pin holes respectively, the two pin holes are distributed at a certain angle, each pin hole corresponds to one slotted hole, the two limiting wheels are installed in the slotted holes through pin shafts and gaskets, the surfaces of the limiting wheels are tangent to the end faces of the arc-shaped guide rails, and the function of positioning the arc-shaped motion blocks in the front and back directions is achieved.
Preferably, the sensor connecting plate and the arc-shaped moving block are in clearance fit, and the sensor connecting plate and the arc-shaped moving block are used for preventing the force sensor from being damaged due to excessive load.
Preferably, the U-shaped support is provided with a slotted hole so that the rack can be inserted into the U-shaped support to engage with the gear.
Preferably, the stopper of sensor connecting plate reaches the spacing purpose of buffering through the stop collar, the gasket is used for reducing the effect of coefficient of friction between sole plate and the sensor connecting plate, sole plate bottom cloth has the strengthening rib.
Preferably, a polyurethane material limiting block is arranged on one side of the rack of the arc-shaped motion block and the U-shaped support frame, when the foot bottom plate is inwards folded, the second polyurethane material limiting block on the arc-shaped motion block can collide with the roller, and when the foot bottom plate is outwards unfolded, the arc-shaped motion block can collide with the first polyurethane material limiting block on the U-shaped support frame to achieve the purpose of buffering and limiting.
Preferably, the U-shaped support frame is provided with irregular lightening holes and a safety protection baffle.
Preferably, the U-shaped support frame and the arc-shaped motion block are provided with square grooves convenient for wiring.
Compared with the prior art, the invention has the following effects:
1. the three-degree-of-freedom ankle joint rehabilitation device has the advantages of small size, compact structure and convenience in installation, is close to the size structure of human ankle joints, and can actively help spinal cord injury patients to train the ankle joints through servo control.
2. The gear and rack in the lower limb rehabilitation robot is in meshing transmission, so that the space is saved, the output torque is increased, the structure is more compact, and the device can be mounted on other lower limb rehabilitation robots to meet various requirements.
3. Although the roller in the invention has small size, the bearing capacity is strong, the guidance quality is good, and the space is fully utilized.
4. The design of the internal rotation and external rotation driven mechanism effectively solves the problem of accompanying motion of human feet, so that the overall motion effect of the device is closer to the motion mode of human ankles, and the device is beneficial to the safe rehabilitation training of patients.
Drawings
Fig. 1 is a front view of a three-degree-of-freedom ankle joint rehabilitation device according to an embodiment of the present invention;
FIG. 2 is a front view of the digital flexor and dorsiflexion degrees of freedom of FIG. 1;
FIG. 3 is a top view of the adduction-abduction degree of freedom of FIG. 1;
FIG. 4 is a front view of a portion of the structure in the adduction-abduction degree of freedom of FIG. 3;
FIG. 5 is a top view of the U-shaped support bracket of FIG. 3 in an adduction-abduction degree of freedom;
FIG. 6 is an exploded view of the internal and external rotational degrees of freedom of FIG. 1; and
fig. 7 is an operation state diagram of the three-degree-of-freedom ankle joint rehabilitation device of fig. 1.
Some of the reference numbers in the figures are as follows:
1-degree of freedom of dorsiflexion and flexion of the toes; 2-adduction abduction degree of freedom; 3-degree of freedom of internal rotation and external rotation; 101-a calf plate; 102-a servo motor; 103-harmonic reducer; 104-U-shaped support; 202-arc motion block; 203-arc rack; 204-a first set of arcuate guide rails; 205-a first set of wheels; 206-plantar force sensors; 207-gear; 208-adduction-abduction drive; 209-polyurethane material limiting block; 2051-pinch roller; 2052 supporting wheels; 2053-Pin roll; 2054-limiting wheel; 2055-gaskets; 301-sensor connection board; 302-antifriction shim plate; 303-a stop collar; 304-a foot plate; 305-an annular platen; 306-end cap.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
As shown in fig. 1 to 7, the embodiment of the invention discloses a three-degree-of-freedom ankle joint rehabilitation device, which comprises a calf plate 101, a U-shaped support frame 104, a toe-bending and dorsiflexion driving device, an arc-shaped motion block 202, two groups of arc-shaped guide rails, two groups of rollers, one group of arc-shaped racks 203, a gear 207, an adduction and abduction driving device 208, a sole force sensor 206, a sensor connecting plate 301, an anti-friction backing plate 302, a sole plate 304, an annular pressing plate 305 and an end cover 306. The three-degree-of-freedom ankle joint rehabilitation device has the characteristics of compact structure, lightness and convenience, and can be installed at the crus of other lower limb rehabilitation robots to perform active rehabilitation training on patients with nervous system injury.
As shown in fig. 2, the bottom of the U-shaped supporting frame 104 is a U-shaped fork, the upper part of the U-shaped supporting frame extends out of the vertical plate, the whole U-shaped supporting frame is L-shaped when viewed from the side, the toe-bending and dorsiflexion driving device comprises a servo motor 102 and a harmonic reducer 103, and the driving device is fixedly connected to the surface of the calf plate. The vertical plate part of the U-shaped support frame 104 is connected with the harmonic reducer 103 to form a revolute pair, so that the U-shaped support frame 104 integrally rotates, namely, the toe bending and dorsiflexion freedom degree of the ankle joint is realized.
As shown in fig. 3 to 5, the arcuate motion block 202 is provided with an arcuate groove for mounting the arcuate rack 203, and two sets of arcuate guide rails are symmetrically provided on two side surfaces thereof, the two sets of arcuate guide rails include a first set of arcuate guide rails 204 and a second set of arcuate guide rails (not shown in the figure), a middle cross section of each set of arcuate guide rails coincides with a middle cross section of the arcuate motion block, and a concave groove is provided in the middle of the arcuate motion block 202 for mounting the sole force sensor 206.
Two sets of gyro wheels include: the two groups of rollers are completely symmetrically arranged on the mounting surface of the U-shaped fork and are respectively tangent with the two groups of guide rails; the inward-closing and outward-expanding driving device 208 is arranged in a long hole of the U-shaped supporting frame 104 and is connected with the gear 207, the arc-shaped rack 203 is meshed with the gear 207, and the meshing transmission of the gear and the rack drives the arc-shaped moving block 202 to do arc-shaped movement, namely, the inward-closing and outward-expanding freedom degree is realized.
As shown in fig. 6, the sensor connecting plate 301 is provided with four limiting blocks, one end of which is connected with the plantar force sensor 206, and the other end of which is connected with the annular pressing plate 305 through the limiting blocks; one surface of the antifriction pad plate 302 is contacted with the sensor connecting plate 301, and the other surface is contacted with the foot bottom plate 304; the foot bottom plate 304 is provided with an arc-shaped groove, the arc-shaped groove is arranged between the antifriction backing plate 302 and the annular pressure plate 305, and the arc-shaped groove and the sensor connecting plate 301 form a rotating pair. End cap 306 is attached to foot plate 304, the plane of end cap 306 coincides with the plane of foot plate 304; the foot plate 304 can move along the arc-shaped slot to realize the freedom of internal rotation and external rotation.
Preferably, the degree of freedom of internal rotation and external rotation is a passive degree of freedom, and when the ankle joint performs adduction and abduction and toe flexion and dorsiflexion, the internal rotation and external rotation accompanying movement is generated, and the passive mechanism generates movement along with the internal rotation and external rotation of the human foot.
Preferably, two sets of rollers are symmetrically installed in the holes of the U-shaped support frame 104, wherein each set of rollers includes two pressure wheels 2051, three support wheels 2052 and two limit wheels 2054, which play a role in guiding and limiting the arc-shaped guide rail 204, the two pressure wheels 2051 and the three support wheels 2052 are distributed on two circumferences at a certain angle, and the centers of the distribution circles where the two pressure wheels and the three support wheels are located on the same axis as the centers of the arc-shaped guide rail 204 and the arc-shaped rack 203.
Preferably, two groups of pin holes are symmetrically arranged on the U-shaped support frame 104, each group of pin holes is provided with two pin holes, the two pin holes are distributed at a certain angle, each pin hole corresponds to one slot hole, the two limiting wheels 2054 are installed in the slot holes through the pin shaft 2053 and the gaskets 2055, the surfaces of the limiting wheels 2054 are tangent to the end surfaces of the arc-shaped guide rails 204, and the function of positioning the arc-shaped motion blocks 202 forwards and backwards is achieved.
Further, a gap is left between the sensor connecting plate 301 and the arc-shaped moving block 202 in a matching manner, so that the force sensor 206 is prevented from being damaged due to an excessive load, and an overload protection effect on the force sensor 206 is achieved.
Further, the U-shaped supporting frame 104 is provided with a slotted hole, so that the arc-shaped rack 203 can be embedded into the U-shaped supporting frame 104 to be meshed with the gear 207, and the structure is more compact.
Furthermore, the limiting block of the sensor connecting plate 301 achieves the purpose of buffering and limiting through the limiting sleeve 303, the antifriction backing plate 302 plays a role of reducing the friction coefficient between the sole plate 304 and the sensor connecting plate 301, and reinforcing ribs are distributed at the bottom of the sole plate 304 to enhance the strength and rigidity of the sole plate.
Preferably, a polyurethane material limiting block 209 is installed on one side of the arc-shaped rack of the arc-shaped motion block 202, when the sole plate 304 is turned inwards, the polyurethane material limiting block 209 can collide with the pressing wheel, and similarly, a polyurethane material limiting block is also installed on the U-shaped support frame 104, when the sole plate is turned outwards, the arc-shaped motion block 202 can collide with the polyurethane material limiting block on the U-shaped support frame 104, and the purpose of buffering and limiting is achieved.
Preferably, the U-shaped support frame 104 is provided with irregular lightening holes in order not to interfere with the movement of the arcuate motion block 202, and the arcuate motion block 202 also has an irregular lightening design.
Preferably, the U-shaped support frame 104 and the arc-shaped motion block 202 are provided with square grooves for easy wiring.
Preferably, the U-shaped supporting frame 104 is provided with a baffle plate to shield mechanical parts, so as to protect and protect man-machine safety.
As shown in fig. 7, the three-degree-of-freedom ankle joint rehabilitation device of the present embodiment is shown in an operating state diagram.
In summary, the three-degree-of-freedom ankle joint rehabilitation device according to the embodiment of the present invention can realize active movements with two degrees of freedom, namely toe flexion, dorsiflexion, toe adduction, and abduction, and one internal rotation and external rotation passive movement, specifically, the U-shaped support frame 104 can drive the whole ankle part to rotate through servo control, and since the movement of the ankle of the human body is coupled movement, the toe flexion and dorsiflexion can be accompanied by the internal rotation and external rotation movement, that is, when the toes are flexed, the feet can simultaneously rotate inwards, and at this time the passive mechanism can generate the internal rotation due to the assistance of the feet, and similarly, when the instep is flexed, the passive mechanism can generate the external rotation movement along with the feet; when by controlling the adduction-abduction driving device 208, the rotation of the gear 207 and the arc-shaped rack 203 generate the meshing transmission, under the guiding and supporting action of the two groups of arc-shaped guide rails and the two groups of rollers 205, the arc-shaped motion block 202 performs the arc-shaped motion, and then drives the foot bottom plate 304 above the arc-shaped motion block to realize the adduction-abduction degree of freedom, the same adduction-abduction motion is also the coupling motion, namely, the internal rotation motion can simultaneously occur when the foot is adducted, at the moment, the driven mechanism can carry out the internal rotation along with the foot, and the same principle can be followed with the external rotation motion of the driven mechanism. Therefore, the passive degree of freedom is accompanied by the degree of freedom of flexion, dorsiflexion and adduction, and compared with other ankle joint rehabilitation devices, the device is more fit to the real ankle movement of a person, and the ankle of the patient is prevented from being secondarily damaged.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.
Claims (10)
1. A three-degree-of-freedom ankle joint rehabilitation device is characterized in that: which comprises a shank plate, a U-shaped supporting frame, a toe-bending and dorsiflexion driving device, an arc-shaped motion block, two groups of arc-shaped guide rails, two groups of rollers, one group of arc-shaped racks, a gear, an adduction and abduction driving device, a plantar force sensor, a sensor connecting plate, an antifriction base plate, a sole plate, an annular pressing plate and an end cover,
the bottom of the U-shaped support frame is in a U-shaped fork shape, and the upper part of the U-shaped support frame extends out of the rear side face of the vertical plate and is integrally in an L shape; the toe flexion and dorsiflexion driving device comprises a servo motor and a harmonic reducer, and is fixedly connected to the surface of the shank plate; the vertical plate part of the U-shaped support frame is connected with the harmonic reducer to form a first rotating pair, so that the U-shaped support frame is integrally rotated, and the toe bending and back bending freedom degree of the ankle joint is realized;
the foot sole force sensor comprises an arc motion block, a foot sole force sensor and a foot sole force sensor, wherein the arc motion block is provided with an arc groove used for mounting an arc rack, two groups of arc guide rails are symmetrically arranged on two side surfaces of the arc motion block and comprise a first group of arc guide rails and a second group of arc guide rails, the middle cross section of each group of arc guide rails is overlapped with the middle cross section of the arc motion block, a concave groove is arranged in the middle of the arc motion block, and the concave groove is used for mounting the foot sole force sensor; the two groups of rollers comprise a first group of rollers and a second group of rollers, and the two groups of rollers are completely symmetrically arranged on the mounting surface of the U-shaped fork and are respectively tangent to the two groups of arc-shaped guide rails; the adduction and abduction driving device is arranged in a long hole of the U-shaped supporting frame and is connected with the gear, the arc-shaped rack is meshed with the gear, and the gear and the rack are meshed for transmission to drive the arc-shaped moving block to do arc-shaped movement, so that the adduction and abduction freedom degree of the ankle joint is realized;
the sensor connecting plate is provided with four limiting blocks, a first end of the sensor connecting plate is connected with the sensor, and a second end of the sensor connecting plate is connected with the annular pressing plate through the limiting blocks; the first side surface of the antifriction base plate is contacted with the sensor connecting plate, and the second side surface of the antifriction base plate is contacted with the foot bottom plate; the foot bottom plate is provided with an arc-shaped groove, the arc-shaped groove is arranged between the antifriction base plate and the annular pressing plate, and the arc-shaped groove and the sensor connecting plate form a second revolute pair; the end cover is connected to the foot bottom plate, and the plane of the end cover is superposed with the plane of the foot bottom plate; the sole plate moves along the arc-shaped groove so as to realize the internal rotation and external rotation freedom degree of the ankle joint.
2. The three-degree-of-freedom ankle joint rehabilitation device according to claim 1, characterized in that: the degree of freedom of internal rotation and external rotation of the ankle joint is a passive degree of freedom, and both the internal rotation and external rotation accompanying movements are generated when the ankle joint performs adduction and abduction and toe flexion and dorsiflexion movements.
3. The three-degree-of-freedom ankle joint rehabilitation device according to claim 1, characterized in that: the two groups of idler wheels are symmetrically installed in the holes of the U-shaped supporting frame, each group of idler wheels comprises two pressing wheels, three supporting wheels and two limiting wheels, the limiting wheels play a role in guiding and limiting the guide rail, the two pressing wheels and the three supporting wheels are distributed on two circumferences at intervals of a certain angle, and the circle centers of the distributed circles where the two pressing wheels and the three supporting wheels are located and the circle centers of the arc-shaped guide rail and the arc-shaped rack are located on the same axis.
4. The three-degree-of-freedom ankle joint rehabilitation device according to claim 3, characterized in that: the U-shaped support frame is symmetrically provided with two groups of pin holes, each group of pin holes are respectively provided with two pin holes, the two pin holes are distributed at a certain angle, each pin hole corresponds to one slotted hole, the two limiting wheels are installed in the slotted holes through pin shafts and gaskets, the surfaces of the limiting wheels are tangent to the end faces of the arc-shaped guide rails, and the function of positioning the arc-shaped motion blocks in the front and back directions is achieved.
5. The three-degree-of-freedom ankle joint rehabilitation device according to claim 1, characterized in that: the sensor connecting plate and the arc-shaped moving block are in clearance fit, and the sensor connecting plate and the arc-shaped moving block are used for preventing the force sensor from being damaged due to overlarge load.
6. The three-degree-of-freedom ankle joint rehabilitation device according to claim 1, characterized in that: the U-shaped support frame is provided with a slotted hole, so that the rack can be embedded into the U-shaped support frame to be meshed with the gear.
7. The three-degree-of-freedom ankle joint rehabilitation device according to claim 1, characterized in that: the limiting block of the sensor connecting plate achieves the purpose of buffering and limiting through the limiting sleeve, the gasket is used for reducing the friction coefficient between the sole plate and the sensor connecting plate, and reinforcing ribs are distributed at the bottom of the sole plate.
8. The three-degree-of-freedom ankle joint rehabilitation device according to claim 1, characterized in that: and the arc motion block is provided with a first polyurethane material limiting block on the U-shaped support frame, and the first polyurethane material limiting block is arranged on the U-shaped support frame.
9. The three-degree-of-freedom ankle joint rehabilitation device according to claim 1, characterized in that: the U-shaped support frame is provided with irregular lightening holes and a safety protection baffle.
10. The three-degree-of-freedom ankle joint rehabilitation device according to claim 9, characterized in that: the U-shaped support frame and the arc-shaped motion block are provided with square grooves convenient for wiring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010413160.4A CN111588588B (en) | 2020-05-15 | 2020-05-15 | Three-degree-of-freedom ankle joint rehabilitation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010413160.4A CN111588588B (en) | 2020-05-15 | 2020-05-15 | Three-degree-of-freedom ankle joint rehabilitation device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111588588A true CN111588588A (en) | 2020-08-28 |
| CN111588588B CN111588588B (en) | 2021-03-02 |
Family
ID=72182872
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010413160.4A Active CN111588588B (en) | 2020-05-15 | 2020-05-15 | Three-degree-of-freedom ankle joint rehabilitation device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111588588B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113576829A (en) * | 2021-06-25 | 2021-11-02 | 北京机械设备研究所 | Forearm rotating mechanism of upper limb exoskeleton and rehabilitation training device |
| CN117224302A (en) * | 2023-11-14 | 2023-12-15 | 北京大学深圳医院（北京大学深圳临床医学院） | Ankle joint protective equipment |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20190224031A1 (en) * | 2018-01-22 | 2019-07-25 | Adrian Dunca | Ankle rehabilitation device |
| CN110384603A (en) * | 2019-08-14 | 2019-10-29 | 慧诚自动化技术(宁波)有限公司 | Mixed connection ankle-joint image training robot |
| US20190343705A1 (en) * | 2015-03-04 | 2019-11-14 | Bonutti Research, Inc. | Orthosis for range of motion |
| CN110859734A (en) * | 2019-12-31 | 2020-03-06 | 郑州铁路职业技术学院 | Patient rehabilitation exercise device |
-
2020
- 2020-05-15 CN CN202010413160.4A patent/CN111588588B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20190343705A1 (en) * | 2015-03-04 | 2019-11-14 | Bonutti Research, Inc. | Orthosis for range of motion |
| US20190224031A1 (en) * | 2018-01-22 | 2019-07-25 | Adrian Dunca | Ankle rehabilitation device |
| CN110384603A (en) * | 2019-08-14 | 2019-10-29 | 慧诚自动化技术(宁波)有限公司 | Mixed connection ankle-joint image training robot |
| CN110859734A (en) * | 2019-12-31 | 2020-03-06 | 郑州铁路职业技术学院 | Patient rehabilitation exercise device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113576829A (en) * | 2021-06-25 | 2021-11-02 | 北京机械设备研究所 | Forearm rotating mechanism of upper limb exoskeleton and rehabilitation training device |
| CN117224302A (en) * | 2023-11-14 | 2023-12-15 | 北京大学深圳医院（北京大学深圳临床医学院） | Ankle joint protective equipment |
| CN117224302B (en) * | 2023-11-14 | 2024-01-26 | 北京大学深圳医院（北京大学深圳临床医学院） | Ankle joint protective equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111588588B (en) | 2021-03-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111588588B (en) | Three-degree-of-freedom ankle joint rehabilitation device | |
| US20190030707A1 (en) | Flexible driver, robot joint, robot and exoskeleton robot | |
| WO2021238501A1 (en) | Bedside lower limb rehabilitation training robot capable of mechanical limiting | |
| CN111168648A (en) | Four-degree-of-freedom hip joint exoskeleton walking-aid robot based on flexible driving | |
| CN112773661B (en) | Exoskeleton forefinger function rehabilitation robot | |
| CN111743736A (en) | Carbon-free walking aid for old people | |
| CN109124984B (en) | Joint module for upper limb rehabilitation training robot | |
| KR101965070B1 (en) | Elastic Structure Body, Elastic Actuator And Wearable Robot Having The Same | |
| CN112515914A (en) | Horizontal double-leg exercise rehabilitation machine | |
| CN115137618A (en) | Wearable lower limb exoskeleton rehabilitation and power-assisted robot | |
| CN115006195A (en) | Self-adaptive knee joint exoskeleton device | |
| KR100328303B1 (en) | An apparatus for an articulation of the artificial foot which has a various axis | |
| CN213588948U (en) | Adjustable lower limb exoskeleton rehabilitation robot | |
| CN114888778A (en) | Compatible lower limb exoskeleton robot | |
| CN115024946A (en) | High-rigidity lower limb rehabilitation exoskeleton system with force feedback | |
| CN109648546B (en) | Adjustable light and thin exoskeleton knee joint driver | |
| CN211934771U (en) | Mechanical virtual walking training walking aid device | |
| CN114571439A (en) | Compact type joint braking lower limb assistance exoskeleton device | |
| CN112870032A (en) | Multifunctional lower limb rehabilitation intelligent auxiliary walking robot | |
| CN110974620A (en) | Mechanical virtual walking training walking aid device | |
| CN111281739A (en) | Recovered ectoskeleton robot | |
| CN213373535U (en) | Carbon-free walking aid for old people | |
| CN114712162B (en) | Three-degree-of-freedom ankle rehabilitation instrument | |
| CN214806574U (en) | Mobile walking-aid robot | |
| CN215607406U (en) | Multifunctional lower limb rehabilitation intelligent auxiliary walking robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |