CN113397919B

CN113397919B - Exoskeleton robot for ankle rehabilitation

Info

Publication number: CN113397919B
Application number: CN202110828087.1A
Authority: CN
Inventors: 王暾; 斯皮拉科斯·帕帕斯塔夫里迪斯·伊曼纽尔; 戴建生; 许双甲
Original assignee: Shenzhen Dh Robotics Technology Co ltd
Current assignee: Shenzhen Dh Robotics Technology Co ltd
Priority date: 2021-07-21
Filing date: 2021-07-21
Publication date: 2022-04-01
Anticipated expiration: 2041-07-21
Also published as: CN113397919A

Abstract

An exoskeleton robot for ankle rehabilitation, comprising: the device comprises an annular support mechanism, a foot plate, a first branched chain and a second branched chain, wherein the first branched chain and the second branched chain are positioned between the annular support mechanism and the foot plate. The first branch chain is positioned on one side of the foot of the user far away from the toes, and the second branch chain is positioned on the outer side of the ankle of the user. The first branch chain comprises a first electric push rod, a first upper end connecting piece and a first lower end connecting piece. The second branched chain comprises a second electric push rod, a second upper end connecting piece and a second lower end connecting piece. The sole is provided with a bottom groove, the bottom groove is provided with a side connecting piece, and the side connecting piece can move on the bottom groove to adapt to the foot length of different users. The designed exoskeleton robot can realize automatic matching of the rotation center and the ankle joint without manual adjustment, and secondary damage is avoided. The exoskeleton robot has the advantages of large working space, high dexterity, compact structure, convenience in wearing and convenience in control.

Description

Exoskeleton robot for ankle rehabilitation

Technical Field

The application relates to the technical field of exoskeleton robots for rehabilitation, in particular to an exoskeleton robot for ankle rehabilitation.

Background

Stroke has become one of the leading causes of death and disability worldwide, and the damage to the nervous system caused by stroke often results in severe dyskinesia, especially foot drop, which greatly impairs the patient's motor ability. Meanwhile, the function of the cerebral apoplexy patient is difficult to recover automatically due to the weakness and damage of muscles around the ankle joint. Therefore, rehabilitation exercise is required to stimulate motor functions of ankle joints, enhance muscular strength and endurance, help patients to recover and gradually improve independent walking ability.

In order to achieve better rehabilitation, patients generally go through two different stages of static rehabilitation and dynamic rehabilitation. The existing medical equipment has relatively single function and cannot have the performance required by both static rehabilitation and dynamic rehabilitation. Meanwhile, in related research data, the ankle joint is often equivalent to a spherical hinge during design according to the motion form of the ankle, in the process of rehabilitation training, whether the rotation center of the mechanism is matched with the ankle joint directly influences the rehabilitation effect, and the deviation of the rotation center of the mechanism and the ankle joint can cause discomfort of a patient and even cause secondary injury. Some early devices such as Rutgers Ankle, ARBOT and the like do not take this into consideration, and the Ankle rehabilitation robot developed by the university of beijing transportation solves the problem of matching of the rotation center, but can be realized only by manual adjustment, and is inconvenient to apply.

Disclosure of Invention

The application provides an exoskeleton robot for ankle rehabilitation, which aims to realize the coincidence of a mechanism rotation center and an ankle joint center and avoid the occurrence of a secondary damage phenomenon.

An embodiment of the present application provides an exoskeleton robot for ankle rehabilitation, including: the device comprises an annular support mechanism, a foot plate, a first branched chain and a second branched chain, wherein the first branched chain and the second branched chain are positioned between the annular support mechanism and the foot plate; the first branch chain is positioned on one side of the foot of the user, which is far away from the toes, and the second branch chain is positioned on the outer side of the ankle of the user;

the first branch chain comprises a first electric push rod, a first upper end connecting piece and a first lower end connecting piece; one end of the first upper end connecting piece is rotationally connected with the annular bracket mechanism, and the other end of the first upper end connecting piece is rotationally connected with the first electric push rod; one end of the first lower end connecting piece is rotationally connected with the foot plate, and the other end of the first lower end connecting piece is rotationally connected with the first electric push rod;

the second branched chain comprises a second electric push rod, a second upper end connecting piece and a second lower end connecting piece; one end of the second upper end connecting piece is rotatably connected with the annular bracket mechanism, the other end of the second upper end connecting piece is rotatably connected with the second electric push rod, and the second upper end connecting piece can also rotate relative to the axis of the second electric push rod; one end of the second lower end connecting piece is rotationally connected with the foot plate, and the other end of the second lower end connecting piece is rotationally connected with the second electric push rod;

the foot plate is provided with a bottom groove, the bottom groove is provided with a side connecting piece, and the side connecting piece can move on the bottom groove to adapt to different foot lengths of the user.

In one embodiment, the first branch is located in a sagittal plane of the ankle and the second branch is located in a coronal plane of the ankle.

In one embodiment, the joints of the first branch chain and the second branch chain with the foot plate are equal to the height of the ankle.

In one embodiment, the ankle support further comprises a third branch, the third branch is located between the foot plate and the annular support structure, and the third branch and the second branch are identical in structure and are distributed on the inner side of the ankle opposite to the second branch.

In one embodiment, a first push rod end sleeve is arranged at the end part of the first electric push rod, and the first lower end connecting piece is rotatably connected with the first push rod end sleeve; the first lower end connecting piece and the first push rod tail end sleeve piece can rotate relative to the axis of the first electric push rod; and a quick-release pin is arranged on the first push rod end sleeve piece so as to limit the rotation of the first push rod end sleeve piece and the first lower end connecting piece relative to the axis of the first electric push rod.

In one embodiment, the annular bracket mechanism comprises a first bracket and at least one pair of second brackets, wherein the first bracket and the second brackets are rotationally connected; the first upper end connecting piece is connected with the first bracket; at least one pair of the second supports can be opened and closed to realize the opening and closing of the annular support mechanism.

In one embodiment, the annular support mechanism comprises a first support and a pair of second supports, and the second supports are connected through a connecting piece in an openable and closable manner so as to realize opening and closing of the annular support mechanism.

In one embodiment, the side of the first support and/or the second support that contacts the user's leg is padded.

In one embodiment, a first threaded hole is formed in the first bracket; a second threaded hole is formed in the second bracket; the first upper end connecting piece is connected with the first threaded hole and can rotate relative to the axis of the first threaded hole; the second upper end connecting piece is connected with the second threaded hole and can rotate relative to the axis of the second threaded hole.

In one embodiment, the foot plate comprises a bottom support plate, a sole protection surface fixed on both sides of the bottom support plate, and a first fastener and a second fastener fixed on the sole protection surface, the first fastener is used for fastening and adapting to different soles, and the second fastener is used for fastening and adapting to different foot lengths; the bottom support plate is kept away from one side of the toes of the user and is further provided with a rear connecting plate, and the rear connecting plate is used for adapting to different leg lengths.

According to the exoskeleton robot for ankle rehabilitation in the embodiment, the bottom groove and the side connecting piece can realize that the exoskeleton robot is suitable for different foot lengths, and the universality and the flexibility of the exoskeleton robot are improved. The exoskeleton robot has the advantages that the exoskeleton rotation center of the exoskeleton robot can automatically match ankle joints, namely the foot plate rotation center can coincide with the ankle center of a user, secondary damage is avoided, manual adjustment is not needed, the exoskeleton rotation center can automatically match the ankle joints, the exoskeleton robot is large in working space, high in flexibility and compact in structure and convenient to control.

Drawings

Fig. 1 is a schematic structural diagram of an exoskeleton robot for ankle rehabilitation according to an embodiment of the present application;

FIG. 2 is a schematic structural view of a ring support mechanism according to an embodiment of the present application;

FIG. 3 is a diagram illustrating a first branch structure according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a second branched structure in one embodiment of the present application;

FIG. 5 is a schematic view of a sole structure according to an embodiment of the present disclosure;

fig. 6 is a schematic top view of an exoskeleton robot for ankle rehabilitation according to an embodiment of the present application;

fig. 7 is a schematic diagram illustrating the principle of structural advantages of the exoskeleton robot for ankle rehabilitation according to an embodiment of the present application.

Detailed Description

The present application will be described in further detail below with reference to the accompanying drawings by way of specific embodiments. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.

Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.

The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings).

The exoskeleton robot for ankle rehabilitation designed by the application is called as the exoskeleton robot for short, and can perform two kinds of rehabilitation training, namely dynamic rehabilitation training and static rehabilitation training. In two rehabilitation training processes, the rotation center of the exoskeleton robot can be adaptively overlapped with the ankle center of a user, so that secondary damage of the user is avoided. Before a user wears the exoskeleton robot to perform dynamic or static rehabilitation training, the exoskeleton robot is in an initial pose.

In the initial position, the axes of the joints of the mechanism 1, the foot plate 4, the first upper connecting member 21 and the mechanism 1 and the axes of the joints of the first lower connecting member 26 and the foot plate 4 are parallel to the horizontal plane, the first branch chain 2 is located in the sagittal plane of the ankle, and the second branch chain 3 is located in the coronal plane of the ankle. The dynamic rehabilitation is realized by the aid of the first branched chain 2 and the second branched chain 3 of the exoskeleton robot, the static rehabilitation is realized by the aid of the three branched chains of the first branched chain 2, the second branched chain 3 and the third branched chain 6 of the exoskeleton robot, and the specific scheme is as follows:

as shown in fig. 1 to 6, in one embodiment, an exoskeleton robot for ankle rehabilitation includes: the support device comprises a ring-shaped support mechanism 1, a foot plate 4, a first branched chain 2 and a second branched chain 3 which are positioned between the ring-shaped support mechanism 1 and the foot plate 4. The first branch chain 2 is positioned at one side of the foot of the user, which is far away from the toes, namely at one side of the heel, and the second branch chain 3 is positioned at the outer side of the ankle of the user. The inner side of the ankle is located between the two legs of the user, and correspondingly, the side far away from the inner side of the ankle is the outer side of the ankle.

The first branch chain 2 comprises a first electric push rod 23, a first upper end connector 21 and a first lower end connector 26. One end of the first upper end connecting piece 21 is rotatably connected with the annular bracket mechanism 1, and the other end is rotatably connected with the first electric push rod 23. As shown in fig. 1, in the initial posture, the first upper end link 21 and the ring holder mechanism 1 form a revolute pair and are capable of rotating in the y-z plane, and the first upper end link 21 and the first electric putter 23 form a revolute pair and are capable of rotating in the x-z plane. One end of the first lower end connecting piece 26 is rotatably connected with the foot plate 4, and the other end is rotatably connected with the first electric push rod 23. Likewise, in the initial attitude, the first lower link 26 and the foot plate 4 form a revolute pair and are able to rotate in the y-z plane, and the first lower link 26 and the first electric putter 23 form a revolute pair and are able to rotate in the x-z plane.

The second branch chain 3 comprises a second electric push rod 34, a second upper end connecting piece 33 and a second lower end connecting piece 35. In the initial pose, one end of the second upper end connecting piece 33 is rotatably connected with the annular bracket mechanism 1 to form a rotating pair and can rotate in the x-z plane, and the other end of the second upper end connecting piece is rotatably connected with the second electric push rod 34 to form a rotating pair and can rotate in the y-z plane. The second upper end connector 33 can also rotate relative to the second electric push rod 34 to form a rotating pair. In the initial pose, one end of the second lower end connecting piece 35 is rotatably connected with the foot plate 4 to form a revolute pair and can rotate in the x-z plane, and the other end of the second lower end connecting piece is rotatably connected with the second electric push rod 34 to form a revolute pair and can rotate in the y-z plane.

The foot plate 4 is provided with a bottom groove 412, the bottom groove 412 is provided with a side connecting piece 411, and the side connecting piece 411 can move on the bottom groove to adapt to the foot length of different users.

Specifically, as shown in the y-direction of fig. 1, the bottom support plate 41 of the foot plate 4 has bottom grooves 412 formed on both sides thereof, i.e., the inner side and the outer side of the ankle, of the bottom support plate 41. The bottom groove 412 is provided with a side connecting piece 411, and the side connecting piece 411 can move back and forth along the x direction in the bottom groove 412 so as to adapt to users with different foot lengths.

The lateral connecting member 411 may be fixed by a snap, and may be engaged with the bottom groove 412 in a concave-convex manner, or may be moved on the bottom groove to adapt to different foot lengths, specifically without limitation.

The exoskeleton robot designed by the application is integrally a parallel mechanism, and a user carries out dynamic rehabilitation training through the first branched chain, the second branched chain and other parts of the exoskeleton robot. During dynamic rehabilitation training, no matter what pose the exoskeleton robot is in, the rotation center of the exoskeleton robot can coincide with the ankle center of a user. As shown in fig. 7, the exoskeleton robot is simplified, wherein 1 corresponds to the ring-shaped support mechanism, 2 corresponds to the first branched chain, 3 corresponds to the second branched chain, 4 corresponds to the foot plate, and 5 corresponds to the ankle of the user, and the specific analysis is as follows:

in the case of the kinematic verification, the momentum theory is adopted, and as can be seen from the momentum theory, for the pure rotation, the momentum is expressed as follows

S＝[s^T (r×s)^T]^T

Where s denotes the direction vector of the axis of rotation, generally expressed as a column vector, s^TIt represents the transposed vector, which is a line vector, and r represents the position vector of any point on the rotation axis.

For pure translation, the rotation is expressed as follows

S＝[0^T s^T]^T

At this time, s represents a direction vector of the translational motion. Meanwhile, if the two rotations satisfy the following formula

Then call S^rIs the reciprocal rotation of S

For the purpose of keeping the subsequent proof from generality, it is assumed that the foot plate 4 is arbitrarily rotated with respect to the ring support 1, giving rise to the attitude shown in fig. 7. Using the theory of momentum, the kinematic momentum in the first branch 2 and the ankle 5 is first marked in the figure with S, where S is₁₁-S₁₅Represents 5 kinematic rotations, S, of the first branch 2₂₁-S₂₃Representing 3 movement rotations at the ankle 5. Meanwhile, for the convenience of the expression of graphic configuration, alpha represents S₁₄Winding S₁₅Beta represents S₁₁And S₁₅The intersection point C is connected with the ankle central point and S₁₅And (4) an included angle.

In FIG. 7, G is located at the center of the ring support mechanism 1 and represents the origin of coordinates of the global coordinate system G-xvz. A is a central point of the first branched chain 2 connected with the annular bracket mechanism 1 and is also a coordinate origin of a local coordinate system A-uvw. B center point of the connection of the first branch 2 and the foot plate 4.

It should be noted that, due to the arrangement of the kinematic joint, S₁₂And S₁₄The direction vectors of (a) always remain parallel to each other.

Further, the kinematic momentum system of the first branch in the local coordinate system A-uvw is expressed as follows

Wherein l_BRepresenting the vector AB and, at the same time,

the relation (2) will be used for the solution of the reciprocal momentum.

By solving the reciprocal momentum of (1), the constraint momentum system of the first branch chain 2 to the foot plate 4 can be obtained

Where the superscript r is used for the representation of the reciprocal momentum of the corresponding momentum, l_CRepresenting the vector AC. The rotation comprises only one rotation, which represents a force vector passing through point C and perpendicular to plane ACB. Further, (3) can be developed and expressed in the global coordinate system G-xyz

Wherein s α and c α are simplified expressions of sin (α) and cos (α), (b), (c) and (c: (c))^Gx, 0, 0) are the coordinates of point C in the global coordinate system. Similarly, the amount of rotation that can be obtained to constrain the foot plate 4 by the ankle 5 is as follows

Wherein h is₀Representing the vertical distance of the center of the looped support mechanism 1 from the ankle 5. Since the second branch chain 3 is an unconstrained branch chain and is unconstrained in moving the foot plate 4, it does not generate a constrained rotation system. The above (4) and (5) together form a constraint rotation quantity multiple set of the foot plate 4, and a motion rotation quantity system of the foot plate 4 can be obtained by solving the reciprocal rotation quantityIs expressed as follows

According to the formula, the compound has the advantages of,^GS_f1and^GS_f2representing two rotational movements of the foot plate, while assuming r_f1＝(x₁，y₁，z₁) And r_f2＝(x₂，y₂，z₂) Then, after carrying in (6), a solution can be obtained as follows

r_f1＝r_f2＝(0，0，-h₀) (7)

That is, the two rotating shafts of the first branched chain and the corresponding branched chain of the ankle pass through the ankle position, and the rotating center is always positioned at the ankle, so that the ankle can be proved.

According to the above formula and analysis, s can be accurately and respectively corresponded to the direction vector of the rotating shaft under pure rotation or the direction vector of the translational motion under pure translation, and no description is made.

The exoskeleton robot for ankle rehabilitation in the embodiment of the application is adopted. The bottom groove 412 and the side connecting piece 411 can enable the exoskeleton robot to be suitable for different foot lengths, and universality and flexibility of the exoskeleton robot are improved. The exoskeleton robot that designs, its exoskeleton rotation center can match the ankle joint automatically, and 4 rotation centers on sole can coincide with user's ankle center promptly, avoid causing secondary damage to do not need the people to adjust and to realize that exoskeleton rotation center can match the ankle joint automatically, exoskeleton robot working space is big, and the dexterity is high, and compact structure, be convenient for control.

In one embodiment, the first branch 2 is located in the sagittal plane of the ankle and the second branch 3 is located in the coronal plane of the ankle, i.e. the first branch 2 and the second branch 3 are angled at 90 °.

The first branched chain 2 and the second branched chain 3 are matched to realize dynamic rehabilitation of a user, and the dynamic rehabilitation can generate two rehabilitation modes. In the first rehabilitation mode, the joints of the lower ends of the first branch chain 2 and the second branch chain 3 are as high as the ankles, and the exoskeleton robot can realize decoupling control and can generate dorsiflexion/plantarflexion, inversion/eversion or compound motion of the dorsiflexion/plantarflexion, the inversion/eversion or both. In the second rehabilitation mode, the joint of the lower ends of the first branch 2 and the second branch 3 is not as high as the ankle, and the exoskeleton robot can provide a smaller range of compound adduction/abduction motions besides dorsiflexion/plantarflexion and inversion/eversion motions. The joints are the rotation axis where the first lower end joint 26 and the foot plate 4 are connected, and the rotation axis where the second lower end joint 35 and the foot plate 4 are connected.

Specifically, in one embodiment, the joints of the first branch chain 2 and the second branch chain 3 with the foot plate 4 are equal to the ankle in height.

The upper ends of the first branched chain 2 and the second branched chain 3 are both connected with the annular support mechanism 1, and the connecting parts of the first branched chain 2 and the second branched chain 3 and the annular support mechanism 1 are respectively equal in height.

In the first rehabilitation modality: the joint of the lower ends of the first branch chain 2 and the second branch chain 3 is equal to the height of an ankle, and the exoskeleton robot can realize decoupling control, namely the first branch chain 2 controls dorsiflexion/plantarflexion independently through the extension and contraction of the first electric push rod 23, and the inversion/eversion is controlled by the second branch chain 3 on the side only. The decoupling control reduces the complexity of the stability control of the exoskeleton robot, so that the exoskeleton robot is more flexible and reliable to use. In the second rehabilitation modality: the joint of the lower ends of the first branch chain 2 and the second branch chain 3 is not as high as the ankle, and the exoskeleton robot can also provide a small range of compound adduction/abduction movement. As shown in fig. 1, dorsiflexion/plantarflexion corresponds to rotation in the x-z plane, varus/valgus corresponds to rotation in the y-z plane, and adduction/abduction corresponds to rotation of the ankle in the x-y plane.

In one embodiment, the second lower end connector 35 is connected to the foot plate 4 through a nut 36, so as to facilitate the later mounting and dismounting of the second branch chain 3 and distinguish the second branch chain from the first branch chain 2.

As shown in fig. 6, in one embodiment, the ankle support device further comprises a third branch chain 6, the third branch chain 6 is located between the foot plate 4 and the ring-shaped support device 1, and the third branch chain 6 and the second branch chain 3 have the same structure and are distributed on the inner side of the ankle opposite to the second branch chain 3.

When the exoskeleton robot carries out dynamic rehabilitation, only the first branch chain 2 and the second branch chain 3 are needed. However, when the exoskeleton robot needs static rehabilitation, the first branch chain 2, the second branch chain 3 and the third branch chain 6 are required to participate simultaneously. The third branched chain 6 and the second branched chain 3 have the same structure, and the joint of the third branched chain and the foot plate 4 is connected through a nut 36, so that the third branched chain and the foot plate are convenient to disassemble. The exoskeleton robot can be rapidly converted between static rehabilitation and dynamic rehabilitation. The third branched chain 6 is mounted or dismounted, the exoskeleton robot is reconstructed, and the introduction of the reconfigurable characteristic enables the exoskeleton robot to have dynamic rehabilitation and static rehabilitation, so that the multifunction of one machine is realized, and the rehabilitation cost of a user is reduced.

Specifically, in one embodiment, a first push rod end sleeve 25 is disposed at an end of the first electric push rod 23, and the first lower end connector 26 is rotatably connected to the first push rod end sleeve 25. The first lower end connector 26 and the first push rod end fitting 25 are both rotatable relative to the axis of the first electric push rod 23. A quick-release pin 24 is arranged between the first electric push rod 23 and the first push rod end sleeve piece 25, and the quick-release pin 24 simultaneously passes through the end of the first electric push rod 23 and the first push rod end sleeve piece 25 so as to limit the rotation of the first push rod end sleeve piece 25 and the first lower end connector 26 relative to the axis of the first electric push rod 23 during dynamic rehabilitation. After the quick release pin 24 is pulled out, the first lower end connector 26 and the first push rod end sleeve 25 can rotate relative to the axis of the first electric push rod 23.

During static rehabilitation, the third branched chain 6 needs to be introduced on the basis of dynamic rehabilitation, the quick-release pin 24 is pulled out simultaneously, so that the first push rod end external member 25 can rotate relative to the axis of the first electric push rod 23, and after the quick-release pin 24 is pulled out, the lower end of the first branched chain 2 is changed into three rotational degrees of freedom from two rotational degrees of freedom, and clinical requirements are met in a working range. When the exoskeleton robot is reconstructed from dynamic rehabilitation to static rehabilitation, the nut 36 is convenient for quickly installing the third branched chain 6, and the quick-release pin 24 is convenient for quickly pulling the third branched chain out, so that the lower end of the first branched chain 2 obtains three rotational degrees of freedom. If the exoskeleton robot is in a static rehabilitation configuration initially, the third branch chain 6 is disassembled, and the quick-release pin 24 is installed, so that the exoskeleton robot can be changed into a configuration for dynamic rehabilitation training.

The third branch chain 6 includes a second electric push rod 34, a second upper end connector 33, a second lower end connector 35, and the like, as well as the second branch chain 3. The lateral connectors 411 at both ends are respectively connected with the second branch chain 3 and the third branch chain 6.

As shown in fig. 2, in one embodiment, the ring support mechanism 1 includes a first support 13 and at least a pair of second supports 16, and the first support 13 is rotatably connected to the second supports 16 by pins 12. The first upper end connecting member 21 is connected to the first bracket 13. At least one pair of second brackets 16 can be opened and closed to realize the opening and closing of the annular bracket mechanism 1.

Specifically, in one embodiment, the annular support mechanism 1 includes a first support 13 and a pair of second supports 16, and the pair of second supports 16 are connected to each other by a connecting member so as to open and close the annular support mechanism 1.

In one embodiment, the first support 13 and/or the second support 16 is fixed to the pad 11 on the side that contacts the user's leg.

In one embodiment, the first bracket 13 is provided with a first threaded hole 14. The second bracket 16 is provided with a second threaded hole 15. The first upper end connecting piece 21 is connected with the first threaded hole 14 and can rotate around the axis of the first threaded hole 14. The second upper end connecting piece 33 is connected with the second threaded hole 15 and can rotate around the axis of the second threaded hole 15. Correspondingly, a threaded hole for connection is also formed in the second support 16 connected with the third branched chain 6, so that the third branched chain 6 can be conveniently disassembled and assembled.

As shown in fig. 2, the second screw hole 15 is a screw hole provided in a boss of the second bracket 16, and when the second upper end connection member 33 is connected to the second screw hole 15, the screw is fixed in the second screw hole 15 of the boss, and the second upper end connection member 33 rotates relative to the outer peripheral surface of the boss. The first upper end connecting member 21 is fixed in the first screw hole 14 of the first bracket 13 by a screw, and the contact side of the screw and the first upper end connecting member 21 is a smooth surface, so that the first upper end connecting member 21 can rotate relative to the axis of the screw.

The pair of second brackets 16 are rotatably connected to the two ends of the first bracket 13, and the pair of second brackets 16 can be opened and closed relative to the first bracket 13 through the connecting piece 17, so that a user can conveniently put on or take off the exoskeleton robot. Specifically, the connecting member 17 can adopt a bolt and nut assembly to adjust the opening and closing between the opposite surfaces of the ends of the pair of second brackets 16, when the ends of the pair of second brackets 16 far away from the first bracket 13 are closed through the connecting member 17, the pair of second brackets 16 and the first bracket 13 form the annular bracket mechanism 1 which is fixed on the leg of the user, and when the exoskeleton robot needs to be dismounted, the pair of second brackets 16 can be quickly opened by unscrewing the nuts. Of course, in other embodiments, the connecting member 17 may also be in the form of a snap-fit fixing, and the like, and is not limited in particular. Preferably, the first support 13 and the second support 16 are fixed with the pad 11 on the side contacting with the leg of the user, and in order to provide the annular support mechanism 1 with a good support property, the pad 11 is made of a metal material, so that the leg of the user can be protected, and specifically, the pad 11 is made of rubber. Meanwhile, the pad 11 has a certain deformation amount, and can adapt to legs with different thicknesses.

As shown in FIG. 5, in one embodiment, the foot plate 4 includes a bottom support plate 41 for supporting the ball of the foot. The sole protection surfaces 42 fixed to both sides of the bottom support plate 41, preferably, the sole protection surfaces 42 are made of leather, and the sole protection surfaces 42 cover a front portion of the foot to prevent the foot from being worn and scratched. And a first fastener 43 and a second fastener 44 secured to the sole protective surface 42, the first fastener 43 for fastening and accommodating users of different soles and the second fastener 44 for fastening and accommodating users of different foot lengths. The first fastener 43 can press the instep and the second fastener 44 hooks the heel, preventing the foot from sliding back and forth along the x-axis as shown in fig. 1. The first fastening member 43 and the second fastening member 44 are made of elastic material, such as elastic bands, adapted to the feet of different sizes, and fix the feet to the foot board 4. In other embodiments, the first fastening member 43 and the second fastening member 44 are snap assemblies, and the length of the fastening band of the snap assembly is adjusted according to the feet with different sizes, so that the fastening performance of the snap assembly is better than that of the elastic band.

The bottom support plate 41 is also provided with a rear connecting plate on the side away from the toes of the user for accommodating different leg lengths. Specifically, a rear sliding groove 49 is formed in the rear connecting plate along the z-axis direction, one end of a rear sliding block 47 is installed in the rear sliding groove 49, and the rear sliding block 47 can slide up and down in the rear sliding groove 49 to adapt to different leg lengths. The other end of the rear slider 47 is connected to the first lower end connector 26. The side connecting piece 411 is provided with a side sliding groove 410 along the z-axis direction, one end of a side sliding block 45 is installed in the side sliding groove 410, and the side sliding block 45 can slide up and down on the side sliding groove 410 so as to adapt to users with different leg lengths. The other end of the side slider 45 is connected to the second lower end connector 35, for example, by a nut 36.

In one embodiment, the side connecting member 411 is slidably connected to the bottom groove 412, and the bottom groove 412, the side sliding grooves 410 and the rear sliding grooves 49 are provided with anti-sliding members to prevent sliding, for example, the side anti-sliding knobs 46 and the rear anti-sliding knobs 48 are respectively provided on the side sliding grooves 410 and the rear sliding grooves 49 to prevent the components thereon from sliding up and down after the height is adjusted. The bottom groove 412 is provided with scale marks, so that the moving positions of the side connecting pieces 411 at the two ends are the same, and the scale marks are arranged on the side sliding groove 410 and the rear sliding groove 49, so that the first branched chain 2, the second branched chain 3 and the third branched chain 6 can move up and down at the same height.

The first upper end connector 21, the first lower end connector 26, the second upper end connector 33 and the second lower end connector 35 are U-shaped frames. The first upper end connecting piece 21 is directly connected with the electric push rod shell 22 of the first electric push rod 23 to form a rotating pair.

An extension rod 31 is fixed between the second upper end connecting piece 33 and the second electric push rod 34, one end of the extension rod 31 is connected with the second electric push rod 34, and the other end of the extension rod 31 is rotatably connected with the second upper end connecting piece 33. The end of the extension rod 31 is provided with a connecting sleeve 32, and the second upper end connector 33 is connected with the extension rod 31 through the connecting sleeve 32. Preferably, the connecting sleeve 32 is made of metal. The connecting sleeve 32 can rotate around the axis of the extension rod 31, and the first upper end connecting piece 33 can synchronously rotate along with the connecting sleeve 32.

One side of the toes corresponds to the front of the foot, and the heel corresponds to the rear of the foot. The first branch 2 is located at the rear of the foot and is mainly used for dorsiflexion/plantarflexion, the joint torque required for the dorsiflexion/plantarflexion movement is large, a high-thrust electric push rod is required, and the length of the first electric push rod 23 is long correspondingly. The second branched chain 3 located on the side is mainly used for realizing varus/valgus, the joint torque required by the movement is small, a small-thrust electric push rod can be selected, and the length of the second electric push rod 34 is short correspondingly. Therefore, the extension rod 31 is additionally arranged between the second upper end connecting piece 33 and the second electric push rod 34 to increase the overall length of the second branched chain 3, so that the first branched chain 2 and the second branched chain 3 have the same length, and the installation, debugging and use in the later period are facilitated. The arrangement of the extension rod 31 can also avoid redesigning and processing an electric push rod with a proper length, so that the exoskeleton robot can be conveniently processed. The exoskeleton robot is identical in length, namely the exoskeleton robot is well worn, the original length before use is identical, and the length of the exoskeleton robot is different due to the movement of feet in the later period.

The terms of orientation such as front-back, left-right, up-down, etc. are used in the present application only for convenience of expressing the present solution and should not be construed as limiting the technical solution.

Exoskeleton robot is used in ankle rehabilitation, takes left foot as an example, explains the principle of use: as shown in fig. 1, the ring-shaped support mechanism 1 is first opened by the connecting member 17, the lower leg is inserted into the ring-shaped support mechanism 1, the foot is placed on the foot board 4, and the connecting member 17, the first fastening member 43 and the second fastening member 44 are fixed. The side link 411 is adjusted to a proper position according to the user's foot length, and the side slider 45 and the rear slider 47 are adjusted to a proper height according to the user's leg length. When rehabilitation training is carried out, the motion of the foot can be controlled only by controlling the extension and retraction of the electric push rod in the branched chain.

Before rehabilitation training, the exoskeleton robot is in an initial pose. During rehabilitation training, the annular bracket mechanism 1 is parallel to the horizontal plane, and the foot plate 4 rotates according to rehabilitation actions.

When performing dynamic rehabilitation training, the first branch chain 2 and the second branch chain 3 are installed. If the joints of the lower ends of the first branch chain 2 and the second branch chain 3 and the foot plate 4 are equal to the height of ankles, the exoskeleton robot adopts a first motion mode, can perform decoupling control, and can generate dorsiflexion/plantarflexion, inversion/eversion or compound motion of the dorsiflexion/plantarflexion, the inversion/eversion or the combination motion of the dorsiflexion/plantarflexion and the eversion. If the joint between the lower ends of the first branch chain 2 and the second branch chain 3 and the foot plate 4 is not equal in height with the ankle 5, the exoskeleton robot is in a second motion mode, and the exoskeleton robot can also provide small-range compound adduction/abduction motion. In the range of motion required by dynamic rehabilitation, the global dexterity of the mechanism can reach 0.94, and the mechanism has very good control performance.

When static rehabilitation training is carried out, the exoskeleton robot needs to be reconstructed, the third branched chain 6 is installed on the basis of the initial pose of the dynamic rehabilitation configuration, and the quick-release pin 24 is pulled out. Meanwhile, the annular support mechanism 1 is rotated anticlockwise, and then static rehabilitation training can be carried out. During static rehabilitation training, dorsiflexion/plantarflexion, inversion/eversion, adduction/abduction or the coupling motion of the three can be provided, and the working space of the device can completely meet the clinical requirement. When the exoskeleton robot is reconstructed through static rehabilitation, the annular support mechanism 1 is rotated anticlockwise or clockwise, and the singular pose can be effectively avoided. The counterclockwise rotation angle is smaller than that of the clockwise rotation angle, so that the realization is convenient.

In one embodiment, during dynamic rehabilitation, the upper end and the lower end of the first electric push rod 23 are respectively provided with a hooke joint, the upper end and the lower end of the second electric push rod 34 are respectively provided with a spherical joint and a hooke joint, the configuration of the first branched chain 2 is UPU, the configuration of the second branched chain 3 is SPU, wherein U represents a hooke joint, S represents a spherical joint, and P represents a moving pair, which are driven by the electric push rods. During static rehabilitation, the upper end and the lower end of the first electric push rod 23 are respectively provided with a hook hinge and a spherical hinge, the upper end and the lower end of the second electric push rod 34 are respectively provided with a spherical hinge and a hook hinge, the configuration of the first branched chain 2 is UPS, and the configuration of the second branched chain 3 is SPU.

Static recovered configuration provides three rotational degree of freedom, can satisfy the arbitrary rotation of ankle in the space for passive rehabilitation training in earlier stage can help the patient to strengthen muscle strength rapidly, promotes ankle motion range. The dynamic rehabilitation configuration is used for rehabilitation training in the middle and later stages, can better fit a normal gait curve through control, and guides and helps the patient to gradually recover the autonomous walking ability.

Wear the exoskeleton robot that this application designed: during dynamic rehabilitation and static rehabilitation, the rotation center of the exoskeleton can automatically coincide with the ankle, and secondary damage caused by mismatching of the exoskeleton and the ankle can be effectively avoided. The device has reconfigurability and two purposes, and can meet the dynamic and static rehabilitation requirements of patients. Two motion modes can be provided for dynamic rehabilitation configuration, wherein the first motion mode can realize decoupling control and is convenient for dorsiflexion/plantar flexion and control of inversion/eversion motions required by dynamic rehabilitation, and the second motion mode can provide a smaller range of compound adduction/abduction motions besides dorsiflexion/plantar flexion and inversion/eversion motions. The mechanism can still realize the superior performance of large working space and high dexterity under the condition of no redundant drive. When the dynamic rehabilitation is carried out, the second branched chains 3 are uniformly distributed at the outer side of the crus, so that the interference with the human body can be effectively avoided, and the safety is improved. Compact structure and convenient wearing. Has good universality and is suitable for people with different heights and slimness.

The present application has been described with reference to specific examples, which are provided only to aid understanding of the present application and are not intended to limit the present application. For a person skilled in the art to which the application pertains, several simple deductions, modifications or substitutions may be made according to the idea of the application.

Claims

1. An exoskeleton robot for ankle rehabilitation, comprising: the device comprises an annular support mechanism, a foot plate, a first branched chain, a second branched chain and a third branched chain, wherein the first branched chain, the second branched chain and the third branched chain are positioned between the annular support mechanism and the foot plate; the first branch chain is positioned on the side, away from the toes, of the foot of the user, the second branch chain is positioned on the outer side of the ankle of the user, and the third branch chain and the second branch chain are identical in structure and are distributed on the inner side of the ankle, opposite to the second branch chain;

a bottom groove is formed in the foot plate, a side connecting piece is arranged on the bottom groove, and the side connecting piece can move on the bottom groove to adapt to the foot length of different users;

a first push rod tail end sleeve is arranged at the end part of the first electric push rod, and the first lower end connecting piece is rotatably connected with the first push rod tail end sleeve; the first lower end connecting piece and the first push rod tail end sleeve piece can rotate relative to the axis of the first electric push rod; a quick-release pin is arranged on the first push rod end sleeve piece so as to limit the rotation of the first push rod end sleeve piece and the first lower end connecting piece relative to the axis of the first electric push rod;

during static rehabilitation, the quick-release pin is pulled down, so that the lower end of the first branched chain is changed into three rotational degrees of freedom from two rotational degrees of freedom; and when the dynamic rehabilitation is carried out, the third branched chain is detached and the quick-release pin is installed.

2. The ankle rehabilitation exoskeleton robot of claim 1, wherein said first branch is located in a sagittal plane of the ankle and said second branch is located in a coronal plane of the ankle.

3. The exoskeleton robot for ankle rehabilitation as recited in claim 2, wherein the joints of the first branch chain and the second branch chain with the foot plate are both as high as the ankle.

4. The ankle rehabilitation exoskeleton robot of claim 1, wherein said ring support mechanism comprises a first support and at least a pair of second supports, said first support and said second supports being pivotally connected; the first upper end connecting piece is connected with the first bracket; at least one pair of the second supports can be opened and closed to realize the opening and closing of the annular support mechanism.

5. An ankle rehabilitation exoskeleton robot as claimed in claim 4 wherein said ring support mechanism comprises a first support and a pair of second supports, said pair of second supports being connected by a link to open and close to enable said ring support mechanism to open and close.

6. An ankle rehabilitation exoskeleton robot as claimed in claim 5 wherein the first and/or second brackets are padded on the side in contact with the user's leg.

7. The ankle rehabilitation exoskeleton robot of claim 5, wherein said first bracket is provided with a first threaded hole; a second threaded hole is formed in the second bracket; the first upper end connecting piece is connected with the first threaded hole and can rotate relative to the axis of the first threaded hole; the second upper end connecting piece is connected with the second threaded hole and can rotate relative to the axis of the second threaded hole.

8. An ankle rehabilitation exoskeleton robot as claimed in claim 1, wherein said foot plate includes a bottom support plate, a sole protection surface secured to either side of said bottom support plate, and first and second fasteners secured to said sole protection surface, said first fastener for fastening and accommodating different soles and said second fastener for fastening and accommodating different foot lengths; the bottom support plate is kept away from one side of the toes of the user and is further provided with a rear connecting plate, and the rear connecting plate is used for adapting to different leg lengths.