CN113730197A - Soft exoskeleton system device for improving abnormal gait of hemiplegic lower limbs - Google Patents

Soft exoskeleton system device for improving abnormal gait of hemiplegic lower limbs Download PDF

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Publication number
CN113730197A
CN113730197A CN202111053138.4A CN202111053138A CN113730197A CN 113730197 A CN113730197 A CN 113730197A CN 202111053138 A CN202111053138 A CN 202111053138A CN 113730197 A CN113730197 A CN 113730197A
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pad
lower limbs
abnormal gait
exoskeleton system
system device
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龚怡辰
陈健尔
陈伟海
李宁
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Zhejiang Rehabilitation Medical Center
Third Affiliated Hospital of ZCMU
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Zhejiang Rehabilitation Medical Center
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A—HUMAN NECESSITIES
    • A43—FOOTWEAR
    • A43B—CHARACTERISTIC FEATURES OF FOOTWEAR; PARTS OF FOOTWEAR
    • A43B17/00—Insoles for insertion, e.g. footbeds or inlays, for attachment to the shoe after the upper has been joined
    • A43B17/003—Insoles for insertion, e.g. footbeds or inlays, for attachment to the shoe after the upper has been joined characterised by the material
    • A43B17/006—Insoles for insertion, e.g. footbeds or inlays, for attachment to the shoe after the upper has been joined characterised by the material multilayered
    • A—HUMAN NECESSITIES
    • A43—FOOTWEAR
    • A43B—CHARACTERISTIC FEATURES OF FOOTWEAR; PARTS OF FOOTWEAR
    • A43B23/00—Uppers; Boot legs; Stiffeners; Other single parts of footwear
    • A43B23/02—Uppers; Boot legs
    • A—HUMAN NECESSITIES
    • A43—FOOTWEAR
    • A43B—CHARACTERISTIC FEATURES OF FOOTWEAR; PARTS OF FOOTWEAR
    • A43B7/00—Footwear with health or hygienic arrangements
    • A43B7/14—Footwear with health or hygienic arrangements with foot-supporting parts
    • A43B7/18—Joint supports, e.g. instep supports
    • A43B7/20—Ankle-joint supports or holders
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Rehabilitation Therapy (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Pain & Pain Management (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Materials Engineering (AREA)
  • Wood Science & Technology (AREA)
  • Rehabilitation Tools (AREA)

Abstract

本发明公开了一种改善偏瘫下肢异常步态的软性外骨骼系统装置：包括鞋子与若干肢体固定装置，鞋子内部设有鞋垫，鞋子鞋帮内侧设有踝关节固定装置，鞋子的鞋跟后侧踝关节上部、人体大腿下部以及腰部前后分别设有肢体固定装置，还包括弹力绳带，弹力绳带均匀设有若干挂孔，鞋子的鞋跟后侧的肢体固定装置、大腿下部的肢体固定装置以及腰部前后的肢体固定装置分别与弹力绳带的挂孔连接。鞋垫包括患侧垫以及与患侧垫同等厚度的健侧垫，患侧垫包括自下至上的基垫、外翻垫以及背伸垫，患侧垫的基垫厚度均匀，外翻垫外侧厚，内侧薄，呈楔形，背伸垫前侧厚，后侧薄，背伸垫为前半掌形垫，外翻垫与背伸垫采用粘附方式连接。

Figure 202111053138

The invention discloses a soft exoskeleton system device for improving abnormal gait of hemiplegic lower limbs. The upper part of the ankle joint, the lower part of the human thigh, and the front and back of the waist are respectively provided with limb fixation devices, and also includes elastic cords, which are evenly provided with several hanging holes, the limb fixation device on the back of the heel of the shoe, and the limb fixation device on the lower part of the thigh. and the limb fixing devices at the front and rear of the waist are respectively connected with the hanging holes of the elastic rope belt. The insole includes the ipsilateral pad and the healthy side pad with the same thickness as the ipsilateral pad. The ipsilateral pad includes the base pad, valgus pad and back extension pad from bottom to top. The base pad of the ipsilateral pad has a uniform thickness and the outer side of the valgus pad is thick , the inner side is thin and wedge-shaped, the front side of the back extension pad is thick and the back side is thin, the back extension pad is a front half palm-shaped pad, and the eversion pad and the back extension pad are connected by adhesion.

Figure 202111053138

Description

Soft exoskeleton system device for improving abnormal gait of hemiplegic lower limbs
Technical Field
The invention relates to the technical field of soft exoskeletons, in particular to a soft exoskeletons system device for improving abnormal gait of hemiplegic lower limbs.
Background
Hemiplegia is commonly known as hemiplegia, is a sequela commonly left after stroke, and is often manifested as central paralysis of upper and lower limbs, facial muscles and tongue muscles on one side, particularly as foot drop and foot inversion caused by upper motor neuron damage of the lower limbs, or misuse syndrome left by untimely rehabilitation after stroke, which can leave abnormal gait for the patient when walking is recovered, so that the patient is greatly attacked by walking confidence caused by the influence of walking function, and psychological shadow is easily left by different eyeglow of others.
The current method for improving the abnormal gait of most hemiplegic lower limbs is to use action training or large-scale rehabilitation equipment, which is not flexible enough, has poor effect or high cost, and has limited training field. Therefore, a light and convenient auxiliary device is lacked.
Disclosure of Invention
The invention aims to overcome the technical defects and provide a soft exoskeleton system device for improving abnormal gait of hemiplegic lower limbs.
In order to solve the technical problems, the technical scheme provided by the invention is a soft exoskeleton system device for improving abnormal gait of lower limbs of hemiplegia, which comprises the following steps: including shoes and a plurality of limbs fixing device, the inside shoe-pad that is equipped with of shoes, shoes upper and lower side is equipped with ankle joint limbs fixing device, be equipped with limbs fixing device around heel rear side ankle joint upper portion, human thigh lower part and the waist of shoes respectively, still includes the elastic cord area, the elastic cord area both ends evenly are equipped with a plurality of hanging holes, the limbs fixing device around the limbs fixing device of the heel rear side of shoes, the thigh lower part and the waist is connected with the hanging hole of elastic cord area respectively.
As the improvement, the shoe-pad is including suffering from the side pad and with suffering from the healthy side pad of the side pad isothickness, suffer from the side pad and include base pad, wedge pad and half palm pad from bottom to top, the base pad thickness of suffering from the side pad is even, the wedge pad outside is thick, and the inboard is thin, is the wedge, half palm pad front side is thick, and the rear side is thin, the wedge pad adopts the adhesion mode with half palm pad to be connected.
As a refinement, the number of the limb fixation devices is four.
As an improvement, the bottom of the ankle joint limb fixing device is pressed below the insole or in the middle of the insole and is fixed in the upper.
As an improvement, one base pad is the same as that of the patient side pad, and a plurality of base pads are consistent in height with the thickest part of the wedge-shaped pad.
As an improvement, the hanging hole on the elastic rope belt is formed by folding and sewing the rope belt.
As an improvement, the limb fixing device is matched with an ankle fixing piece, a waist fixing piece and a thigh fixing piece for use.
Compared with the prior art, the invention has the advantages that: when the medical insole needs to be used, a patient wears shoes with the insoles, the thickness of the outer sides of the wedge-shaped pads is 1 cm, the thickness of the front ends of the half palm pads is 1 cm, and the hanging holes in the proper elastic positions are hung on the four limb fixing devices on the shoes, the lower parts of thighs and the front and the back of the waist respectively. The soft exoskeleton system device for improving abnormal gait of hemiplegic lower limbs comprises a pair of shoes, wherein the shoes are deeper than common shoes, one base pad which is the same as the base pad in an affected side pad is arranged in a healthy side pad, and a plurality of base pads which are consistent with the thickest parts of wedge-shaped pads in height are connected in an adhesion mode, the total thickness can be matched freely, the total thickness of the healthy side pads is the same as that of the affected side pads, one layer or a plurality of layers can be placed on the wedge-shaped pads and half sole pads on the affected side, the width of the wedge-shaped pads is two thirds of the width of the base pads, the length of the half sole pads is half of the length of the base pads, the half sole pads are placed at the front part in the shoes, the thickest parts of the half sole pads are the front ends, the height of the half sole pads is slightly reduced from the front ends of toes to the joints of the toes, the outer sides of the wedge-shaped pads are higher than the inner sides, the front ends of the half sole pads are higher than the rear ends, and the base pads are half centimeters thick. The soft exoskeleton system device for improving the abnormal gait of the hemiplegic lower limbs is safe, efficient and cheap, and has high practical value and popularization value.
Drawings
Fig. 1 is a schematic structural diagram of a soft exoskeleton system device for improving abnormal gait of hemiplegic lower limbs according to the invention.
Fig. 2 is an enlarged view at B in fig. 1.
Figure 3 is a rear view of a flexible exoskeleton system apparatus for improving abnormal gait of a hemiplegic lower limb of the present invention.
Fig. 4 is a cross-sectional view at a-a in fig. 3.
Fig. 5 is an enlarged view at C in fig. 4.
Figure 6 is a lateral elevational view of the insole.
Figure 7 is a front view of the insole.
As shown in the figure: 1. shoes, 2, limb fixing devices, 3, insoles, 4, elastic ropes, 5, hanging holes, 6, ankle joint limb fixing devices, 7, base pads, 8, wedge-shaped pads, 9 and half-palm pads.
Detailed Description
The following describes a soft exoskeleton system device for improving abnormal gait of hemiplegic lower limbs in further detail with reference to the attached drawings.
The utility model provides an improve soft ectoskeleton system device of hemiplegia low limbs unusual gait, includes 1 and a plurality of limbs fixing device 2 of shoes, 1 inside shoe-pad 3 that is equipped with of shoes, 1 shoe upper side of shoes is equipped with ankle joint limbs fixing device 6, be equipped with limbs fixing device 2 around heel rear side ankle joint upper portion, human thigh lower part and the waist of shoes 1 respectively, still include elastic cord area 4, 4 both ends in elastic cord area evenly are equipped with a plurality of hanging holes 5, limbs fixing device 2 of the heel rear side of shoes 1, the limbs fixing device 2 of thigh lower part and the limbs fixing device 2 around the waist are connected with hanging hole 5 of elastic cord area 4 respectively.
Insole 3 fills up and fills up with healthy side of the same thickness of sick side pad including sick side, sick side pad includes base pad 7, wedge pad 8 and half palm pad 9 from bottom to top, the base pad thickness of sick side pad is even, 8 outside thick, the inboard is thin of wedge pad, is the wedge, half palm pad 9 front side is thick, and the rear side is thin, wedge pad 8 adopts the adhesion mode with half palm pad 9 to be connected.
The number of the limb fixing devices 2 is four.
The bottom of the ankle joint limb fixing device 6 is pressed below the insole 3 or in the middle of the insole 3 and fixed in the upper.
The side health pad has a base pad 7 identical to that of the patient side pad, and a plurality of base pads 7 having the same height as the thickest part of the wedge-shaped pad 8.
The hanging hole 5 on the elastic rope belt 4 is formed by folding and sewing the rope belt 4.
The limb fixation device 2 is used in cooperation with an ankle fixation member, a waist front and rear fixation member, and a thigh fixation member.
When the invention is implemented specifically, when in use, a patient wears the shoe 1 with the shoe pad 3, the outer side of the wedge-shaped pad is 1 cm thick, the half-palm pad is 1 cm thick, and the hanging holes 5 with proper elasticity are respectively hung on the shoe 1, the lower part of the thigh and the four limb fixing devices 2 at the front and the back of the waist.
The soft exoskeleton system device for improving abnormal gait of hemiplegic lower limbs has deeper shoes than common shoes, wherein one base pad in the healthy side pad is the same as the base pad 7 in the affected side pad, and a plurality of base pads with the same height as the thickest part of the wedge-shaped pad 8 are connected in an adhesion mode, the total thickness can be freely matched, the total thickness of the insole is the same as that of the affected side insole, one or more layers of wedge-shaped insole 8 and half-palm insole 9 on the affected side can be placed, the width of the wedge-shaped insole 8 is two thirds of that of the base insole 7, the length of the half-palm insole 9 is half of that of the base insole, the half-palm insole 9 is placed in the front part of the shoe, the thickest part of the half-palm insole 9 is the front end, the height of the half-palm insole 9 is slightly reduced from the front end of the toes to the joints of the toes, and is greatly reduced from the joints of the toes to the half-palm, the outer side of the wedge-shaped insole 8 is higher than the inner side, the front end of the half-palm insole 9 is higher than the rear end, and the base insole 7 is half cm thick. The soft exoskeleton system device for improving the abnormal gait of the hemiplegic lower limbs is safe, efficient and cheap, and has high practical value and popularization value.
The present invention and its embodiments have been described above, and the description is not intended to be limiting, and the drawings are only one embodiment of the present invention, and the actual structure is not limited thereto. In summary, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (7)

1.一种改善偏瘫下肢异常步态的软性外骨骼系统装置，其特征在于：包括鞋子(1)与若干肢体固定装置(2)，所述鞋子(1)内部设有鞋垫(3)，所述鞋子(1)鞋帮内侧设有踝关节肢体固定装置(6)，所述鞋子(1)的鞋跟后侧踝关节上部、人体大腿下部以及腰部前后分别设有肢体固定装置(2)，还包括弹力绳带(4)，所述弹力绳带(4)均匀设有若干挂孔(5)，所述鞋子(1)的鞋跟后侧的肢体固定装置(2)、大腿下部的肢体固定装置(2)以及腰部前后的肢体固定装置(2)分别与弹力绳带(4)的挂孔(5)连接。1. a kind of soft exoskeleton system device improving the abnormal gait of hemiplegia lower limbs, it is characterized in that: comprise shoes (1) and several limb fixing devices (2), described shoes (1) are provided with insole (3) inside, An ankle joint limb fixing device (6) is provided on the inner side of the upper of the shoe (1), and a limb fixing device (2) is respectively provided on the upper part of the ankle joint behind the heel of the shoe (1), the lower part of the human thigh, and the front and rear of the waist, It also includes an elastic cord strap (4), the elastic cord strap (4) is evenly provided with a plurality of hanging holes (5), the limb fixing device (2) on the rear side of the heel of the shoe (1), the limbs on the lower part of the thigh The fixing device (2) and the limb fixing device (2) at the front and rear of the waist are respectively connected with the hanging holes (5) of the elastic cord belt (4). 2.根据权利要求1所述的一种改善偏瘫下肢异常步态的软性外骨骼系统装置，其特征在于：所述鞋垫(3)包括患侧垫以及与患侧垫同等厚度的健侧垫，所述患侧垫包括自下至上的基垫(7)、楔形垫(8)以及半掌垫(9)，所述患侧垫的基垫厚度均匀，所述楔形垫(8)外侧厚，内侧薄，呈楔形，所述半掌垫(9)前侧厚，后侧薄，所述楔形垫(8)与半掌垫(9)采用粘附方式连接。2. A soft exoskeleton system device for improving abnormal gait of hemiplegic lower limbs according to claim 1, characterized in that: the insole (3) comprises an affected side pad and a healthy side pad with the same thickness as the affected side pad , the affected side pad comprises a bottom-up base pad (7), a wedge-shaped pad (8) and a half palm pad (9), the base pad of the affected-side pad has a uniform thickness, and the outer side of the wedge-shaped pad (8) is thicker , the inner side is thin and is wedge-shaped, the front side of the half palm rest (9) is thick and the back side is thin, and the wedge pad (8) and the half palm rest (9) are connected by adhesion. 3.根据权利要求1所述的一种改善偏瘫下肢异常步态的软性外骨骼系统装置，其特征在于：所述肢体固定装置(2)为四个。3 . A soft exoskeleton system device for improving abnormal gait of hemiplegic lower limbs according to claim 1 , wherein the number of said limb fixing devices ( 2 ) is four. 4 . 4.根据权利要求1所述的一种改善偏瘫下肢异常步态的软性外骨骼系统装置，其特征在于：所述踝关节肢体固定装置(6)底部被压放在鞋垫(3)下方或鞋垫(3)中间以及固定于鞋帮内均可。4. A kind of soft exoskeleton system device for improving abnormal gait of hemiplegic lower limbs according to claim 1, it is characterized in that: the bottom of described ankle joint limb fixation device (6) is pressed under the insole (3) or The insole (3) can be in the middle or fixed in the upper. 5.根据权利要求2所述的一种改善偏瘫下肢异常步态的软性外骨骼系统装置，其特征在于：健侧垫中有一个同患侧垫中基垫一样的基垫(7)，及和楔形垫(8)的最厚处高度一致的基垫(7)多个。5. A kind of soft exoskeleton system device for improving abnormal gait of hemiplegic lower limbs according to claim 2, it is characterized in that: there is a base pad (7) which is the same as the base pad in the pad on the affected side in the pad on the healthy side, and a plurality of base pads (7) having the same height as the thickest part of the wedge-shaped pad (8). 6.根据权利要求1所述的一种改善偏瘫下肢异常步态的软性外骨骼系统装置，其特征在于：所述弹力绳带(4)上的挂孔(5)是通过绳带(4)折叠缝合而成。6. A soft exoskeleton system device for improving abnormal gait of hemiplegic lower limbs according to claim 1, characterized in that: the hanging hole (5) on the elastic rope belt (4) is through the rope belt (4). ) folded and stitched. 7.根据权利要求1所述的一种改善偏瘫下肢异常步态的软性外骨骼系统装置，其特征在于：所述肢体固定装置(2)与脚踝固定件、腰部前后固定件以及大腿固定件配合使用。7. A kind of soft exoskeleton system device for improving abnormal gait of hemiplegic lower limbs according to claim 1, it is characterized in that: described limb fixation device (2) and ankle fixation piece, waist front and back fixation piece and thigh fixation piece With the use of.
CN202111053138.4A 2021-09-08 2021-09-08 Soft exoskeleton system device for improving abnormal gait of hemiplegic lower limbs Withdrawn CN113730197A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114795834A (en) * 2022-04-22 2022-07-29 陈陆飞 Non-external force driven flexible exoskeleton walking aid

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114795834A (en) * 2022-04-22 2022-07-29 陈陆飞 Non-external force driven flexible exoskeleton walking aid

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