CN113967149B - Exoskeleton for foot rehabilitation - Google Patents
Exoskeleton for foot rehabilitation Download PDFInfo
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- CN113967149B CN113967149B CN202010715952.7A CN202010715952A CN113967149B CN 113967149 B CN113967149 B CN 113967149B CN 202010715952 A CN202010715952 A CN 202010715952A CN 113967149 B CN113967149 B CN 113967149B
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- pedal
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- 238000005253 cladding Methods 0.000 claims description 25
- 238000013016 damping Methods 0.000 claims description 16
- 229920000742 Cotton Polymers 0.000 claims description 5
- 230000001681 protective effect Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims 1
- 238000005452 bending Methods 0.000 abstract description 6
- 230000000694 effects Effects 0.000 abstract description 4
- 210000003127 knee Anatomy 0.000 abstract description 4
- 206010017577 Gait disturbance Diseases 0.000 abstract description 3
- 210000000689 upper leg Anatomy 0.000 description 7
- 210000002414 leg Anatomy 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 208000017899 Foot injury Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 238000006748 scratching Methods 0.000 description 1
- 230000002393 scratching effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- 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
- 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
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
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 relates to the technical field of medical equipment, in particular to an exoskeleton for foot rehabilitation, which assists a patient to exercise through the exoskeleton, can save the manpower when other personnel support the patient to exercise, is convenient for the patient to independently complete the exercise work, and meanwhile, the equipment can drive the lower leg and the foot to bend, thereby being convenient for the normal bending of the knee position of the patient, being convenient for the patient to exercise in a normal walking mode of the human body, reducing the walking difficulty and the exercise difficulty, improving the exercise effect and improving the practicability and the reliability; including first support frame, second support frame, rotation support storehouse, carousel and support column, the second support frame is located the right downside of first support frame, all is provided with two sets of binding devices on first support frame and the second support frame, rotates the upper left side at the second support frame to support the storehouse and installs, rotates the inside that supports the storehouse and be provided with first cavity.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to an exoskeleton for foot rehabilitation.
Background
As is well known, due to various accidents, patients with foot injuries or hemiplegia exist in China at present, the patients cannot normally walk due to the injuries, and when rehabilitation exercise is carried out, the patients cannot independently finish exercise, auxiliary exercise is carried out by supporting by an exoskeleton or other personnel, the existing exoskeleton is generally fixed, cannot bend at the knee position, so that walking is difficult, the exercise difficulty is high, the exercise effect is poor, and more manpower is consumed when the auxiliary exercise is carried out by other personnel.
Disclosure of Invention
In order to solve the technical problems, the invention provides the exoskeleton for foot rehabilitation, which can help a patient exercise through the exoskeleton, save the manpower when other people support the patient for exercise, facilitate the patient to independently complete exercise work, and simultaneously drive the lower legs and the feet to bend, thereby facilitating the normal bending of the knee positions of the patient, facilitating the patient to exercise according to the normal walking mode of the human body, reducing the walking difficulty and the exercise difficulty, improving the exercise effect and improving the practicability and the reliability.
The invention relates to an external framework for foot rehabilitation, which comprises a first support frame, a second support frame, a rotary support bin, a turntable and a support column, wherein the second support frame is positioned at the right lower side of the first support frame; through four sets of binding devices, can fix first support frame and second support frame respectively on thigh and shank, the instep is placed on the footboard support, well accuse case passes through power device and drives first pivot rotation, first pivot drive power spur gear rotates, power spur gear and the mesh of ring gear inner wall upside, power spur gear can drive the ring gear and rotate, the ring gear accessible power frid drives rotation support storehouse and second support frame and rotates, thereby it bends to drive the shank, rotation support storehouse of rotation state can rotate on carousel and support column, carousel and support column can support rotation support storehouse and second support frame, the shank accessible upside is two sets of binding devices drive equipment are lifted, equipment can drive shank and foot and are lifted, thereby can make human normal walking, realize recovered purpose of taking exercise, simultaneously when the footboard support, multiunit damping spring can cushion footboard support and foot, reduce the impact of stepping on the foot, during exercise, the atress is less between instep and the footboard support, the human body can be through the footboard support, the second support frame is crooked, the patient's is carried out to the support frame is bent through the side, the human body is convenient for the patient's of the human body, the patient can do exercises, the patient's is convenient and the human body is easy to carry out, the exercise is convenient to carry out the human body, the human body is easy to exercise, the patient is can be carried out the human body is easy to exercise, and is convenient to carry out the foot is easy to exercise, and is high-care, and is easy to exercise.
The invention relates to an outer framework for foot rehabilitation, which comprises a motor base, a motor, a speed reducer, a second rotating shaft and two groups of bevel gears, wherein the motor base is arranged on a first support frame; the motor is opened through well accuse case control, and motor accessible reduction gear, second pivot and two sets of bevel gears drive first pivot rotation, well accuse case steerable motor turned angle and direction of rotation simultaneously to convenient control second support frame and shank bending angle, convenient control shank is crooked and even, improvement practicality and reliability.
The invention relates to an outer framework for foot rehabilitation, which comprises a supporting shaft, a guide bin, a sliding plate, two groups of adjusting rods and two groups of inserting posts, wherein the right side of the supporting shaft is arranged at the left lower side of a second supporting frame; the pedal support and the second support frame are fixedly connected through the limiting device, when the angle of the pedal support needs to be adjusted, the sliding plate is pulled to move leftwards, the sliding plate drives the left ends of the plurality of groups of adjusting springs to move leftwards, the plurality of groups of adjusting springs are elastically deformed, meanwhile, the sliding plate drives the two groups of adjusting rods and the two groups of inserting posts to move leftwards, the two groups of inserting posts are separated from the upper side adjusting holes and the lower side adjusting holes respectively, the pedal support is rotated on the support shaft, the lower side of the pedal support moves backwards to be in a horizontal state, the pedal and the plurality of groups of damping springs move backwards to be in a horizontal state, the front side adjusting holes and the rear side adjusting holes of the pedal support are respectively rotated to the positions of the original lower side adjusting holes and the upper side adjusting holes, the sliding plate is loosened, the sliding plate drives the two groups of adjusting rods and the two groups of inserting posts to move rightwards, the two groups of inserting posts are inserted into the lower side adjusting holes and the upper side adjusting holes respectively, so that the position of the pedal support is re-fixed, feet of a patient can be directly stepped on the outside ground, and the patient in later stage can be assisted and exercise conveniently, and practicability and reliability are improved.
The invention relates to an outer framework for foot rehabilitation, which comprises two groups of arc-shaped cladding plates, two groups of support rods and a magic tape, wherein the left sides of the two groups of arc-shaped cladding plates are rotatably connected, the two groups of arc-shaped cladding plates are respectively fixed on a first support frame through the two groups of support rods, the two groups of arc-shaped cladding plates are respectively rotatably connected with the two groups of support rods, inner protective cotton layers are uniformly arranged on the inner walls of the two groups of arc-shaped cladding plates, and the right sides of the two groups of arc-shaped cladding plates can be connected through the magic tape; opening the magic subsides, rotate two sets of arc cladding plates, two sets of arc cladding plates can rotate on two sets of bracing pieces respectively, wrap up two sets of arc cladding plates on the thigh, merge two sets of arc cladding plates and connect the right side of two sets of arc cladding plates through the magic subsides to bind equipment on the thigh, interior protection cotton layer can protect human shank simultaneously, prevents that two sets of arc cladding plates from causing the abrasion to the shank, improves the travelling comfort.
The invention relates to an outer framework for foot rehabilitation, which also comprises two groups of limiting sleeves, two groups of sliding blocks and two groups of limiting rods, wherein the two groups of limiting sleeves are respectively arranged on the left side and the right side of the bottom of a pedal bracket; when the footboard reciprocates, the footboard accessible two sets of gag levers drive two sets of sliders and slide from top to bottom in two sets of limit sets, through setting up two sets of stop collar, two sets of sliders and two sets of gag levers, can conveniently reciprocate the position to the footboard and spacing, prevent that multiunit damping spring from producing when great elastic deformation from rebounding patient to falling down, guarantee that patient carries out normal exercise, improve practicality and reliability.
The invention relates to an outer framework for foot rehabilitation, which also comprises an outer sheath, wherein the outer sheath is sleeved outside a pedal, a plurality of groups of damping springs, two groups of limiting sleeves and two groups of limiting rods; through setting up the oversheath, can conveniently keep apart the protection to group damping spring, prevent impurity such as external grit from getting into in the multiunit damping spring and causing the hindrance to its normal compression, improve the practicality.
According to the outer framework for foot rehabilitation, the anti-skid rubber layer is arranged at the bottom of the pedal; through setting up anti-skidding rubber layer, can conveniently protect and anti-skidding to the footboard handle, improve the practicality.
The invention relates to an exoskeleton for foot rehabilitation, which also comprises a shield, wherein the shield is positioned at the outer side of a power device, and the right side of the shield is arranged on a first support frame; through setting up the guard shield, can conveniently keep apart the protection to power device, prevent that it from causing the injury to the human body when moving, improve practicality and reliability.
Compared with the prior art, the invention has the beneficial effects that: through four sets of binding devices, can fix first support frame and second support frame respectively on thigh and shank, the instep is placed on the footboard support, well accuse case passes through power device and drives first pivot rotation, first pivot drive power spur gear rotates, power spur gear and the mesh of ring gear inner wall upside, power spur gear can drive the ring gear and rotate, the ring gear accessible power frid drives rotation support storehouse and second support frame and rotates, thereby it bends to drive the shank, rotation support storehouse of rotation state can rotate on carousel and support column, carousel and support column can support rotation support storehouse and second support frame, the shank accessible upside is two sets of binding devices drive equipment are lifted, equipment can drive shank and foot and are lifted, thereby can make human normal walking, realize recovered purpose of taking exercise, simultaneously when the footboard support, multiunit damping spring can cushion footboard support and foot, reduce the impact of stepping on the foot, during exercise, the atress is less between instep and the footboard support, the human body can be through the footboard support, the second support frame is crooked, the patient's is carried out to the support frame is bent through the side, the human body is convenient for the patient's of the human body, the patient can do exercises, the patient's is convenient and the human body is easy to carry out, the exercise is convenient to carry out the human body, the human body is easy to exercise, the patient is can be carried out the human body is easy to exercise, and is convenient to carry out the foot is easy to exercise, and is high-care, and is easy to exercise.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is an enlarged schematic view of the rotary support cartridge of FIG. 1;
FIG. 3 is an enlarged schematic view of the pedal of FIG. 1;
FIG. 4 is an enlarged schematic view of the motor of FIG. 1;
FIG. 5 is an enlarged schematic view of the slide plate of FIG. 1;
FIG. 6 is a schematic view of the slide plate of FIG. 1 in a left-view enlarged configuration;
FIG. 7 is an enlarged schematic top view of the arcuate cladding plate of FIG. 1;
The reference numerals in the drawings: 1. a first support frame; 2. a second support frame; 3. rotating the supporting bin; 4. a turntable; 5. a support column; 6. a power trough plate; 7. an inner gear ring; 8. a power spur gear; 9. a first rotating shaft; 10. a pedal bracket; 11. a pedal; 12. a damping spring; 13. a central control box; 14. a motor base; 15. a motor; 16. a speed reducer; 17. a second rotating shaft; 18. bevel gears; 19. a support shaft; 20. a guide bin; 21. an adjusting spring; 22. a slide plate; 23. an adjusting lever; 24. an adjustment hole; 25. inserting a column; 26. an arc cladding plate; 27. a support rod; 28. an inner protective cotton layer; 29. a magic tape; 30. a limit sleeve; 31. a slide block; 32. a limit rod; 33. an outer sheath; 34. an anti-slip rubber layer; 35. a shield.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
As shown in fig. 1 to 7, the outer skeleton for foot rehabilitation according to the present invention is characterized in that, when in operation, the first support frame 1 and the second support frame 2 can be respectively fixed on the thigh and the lower leg by four groups of binding devices, the foot surface is placed on the pedal support 10, the central control box 13 drives the first rotating shaft 9 to rotate by the power device, the first rotating shaft 9 drives the power spur gear 8 to rotate, the power spur gear 8 is meshed with the upper side of the inner wall of the inner gear ring 7, the power spur gear 8 can drive the inner gear ring 7 to rotate, the inner gear ring 7 can drive the rotating support bin 3 and the second support frame 2 to rotate by the power groove plate 6, thereby driving the lower leg to bend by the rotating support bin 3 in a rotating state on the turntable 4 and the support column 5, the turntable 4 and the support column 5 can drive the equipment to lift the lower leg and the foot by the upper two groups of binding devices, thereby enabling the human body to walk normally, and simultaneously, when the pedal support 10, the pedal 11 and the plurality of groups of springs 12 are meshed with the inner gear ring 7, the pedal support frame 10 can be stepped on by the pedal support frame 10, and the foot support frame 10 can be stepped on by the foot support frame 10, and the foot support frame 2 is stressed by the foot support by the shock absorption device, and the foot support frame 10 is reduced by the foot support frame.
The main functions realized by the invention are as follows: through the outer skeleton for assisting the patient to exercise, the labor force of other people when the patient is supported by the outer skeleton for exercise can be saved, the patient can independently complete the exercise work, and meanwhile, the equipment can drive the lower legs and the feet to bend, so that the knee position of the patient can be conveniently bent normally, the patient can exercise according to the normal walking mode of the human body, the walking difficulty and the exercise difficulty are reduced, and the exercise effect is improved; the power device has the working mode that the motor is controlled to be opened through the central control box, the motor can drive the first rotating shaft to rotate through the speed reducer, the second rotating shaft and the two groups of bevel gears, and meanwhile, the central control box can control the rotating angle and the rotating direction of the motor, so that the bending angles of the second support frame and the lower leg are conveniently controlled, and the bending of the lower leg and even the bending of the lower leg are conveniently controlled; the limiting device is used in a mode that the pedal support and the second support frame are fixedly connected conveniently through the limiting device, when the angle of the pedal support needs to be adjusted, the sliding plate is pulled to move leftwards, the sliding plate drives the left ends of the plurality of groups of adjusting springs to move leftwards, the plurality of groups of adjusting springs are elastically deformed, meanwhile, the sliding plate drives the two groups of adjusting rods and the two groups of inserting posts to move leftwards, the two groups of inserting posts are separated from the upper side adjusting holes and the lower side adjusting holes respectively, the pedal support is rotated on the support shaft, the lower side of the pedal support is moved backwards to be in a horizontal state, the pedal and the plurality of groups of damping springs are moved backwards to be in a horizontal state, the front side adjusting holes and the rear side adjusting holes of the pedal support are respectively rotated to the positions of the original lower side adjusting holes and the upper side adjusting holes, the sliding plate is loosened, the plurality of adjusting springs are pulled to move rightwards, the sliding plate drives the two groups of adjusting rods and the two groups of inserting posts to move rightwards, and the two groups of inserting posts are respectively inserted into the lower side adjusting holes and the upper side adjusting holes, so that the positions of the pedal support are fixed, feet of a patient can be stepped on the external ground directly, and the patient can exercise in an auxiliary state; the binding device is used in a mode that a magic tape is opened, two groups of arc-shaped cladding plates are rotated and can respectively rotate on two groups of support rods, the two groups of arc-shaped cladding plates are coated on thighs, the two groups of arc-shaped cladding plates are combined and the right sides of the two groups of arc-shaped cladding plates are connected through the magic tape, so that equipment is bound on the thighs, meanwhile, an inner protective cotton layer can protect legs of a human body, and the two groups of arc-shaped cladding plates are prevented from scratching the legs; when the pedal moves up and down, the pedal can drive the two groups of sliding blocks to slide up and down in the two groups of limiting sleeves through the two groups of limiting rods, and the up and down moving position of the pedal can be conveniently limited through the two groups of limiting sleeves, the plurality of groups of sliding blocks and the two groups of limiting rods, so that a patient is prevented from rebounded to fall down when the plurality of groups of damping springs generate larger elastic deformation, and the normal exercise of the patient is ensured; through the arrangement of the outer sheath, the isolation protection of the group of damping springs can be conveniently carried out, and foreign matters such as external sand and stone are prevented from entering the group of damping springs and blocking the normal compression of the springs; the antiskid rubber layer is arranged, so that the pedal can be conveniently protected and subjected to antiskid treatment; through setting up the guard shield, can conveniently keep apart the protection to power device, prevent that it from causing the injury to the human body when moving, improve practicality and reliability.
The mounting mode, the connecting mode or the setting mode of the outer framework for foot rehabilitation are common mechanical modes, and the outer framework can be implemented as long as the beneficial effects can be achieved; the central control box can be purchased in the market.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that it will be apparent to those skilled in the art that modifications and variations can be made without departing from the technical principles of the present invention, and these modifications and variations should also be regarded as the scope of the invention.
Claims (5)
1. The utility model provides a foot rehabilitation uses exoskeleton, a serial communication port, including first support frame (1), second support frame (2), rotate support storehouse (3), carousel (4) and support column (5), second support frame (2) are located the right downside of first support frame (1), all be provided with two sets of binding device on first support frame (1) and second support frame (2), rotate support storehouse (3) and install in second support frame (2) upper left side, the inside of rotating support storehouse (3) is provided with first cavity, carousel (4) are located first cavity inside and can rotate in first cavity, the right-hand member of support column (5) is installed on carousel (4), the left end of support column (5) passes and rotates support storehouse (3) and install in first support frame (1) lower right side, The support column (5) and the rotary support bin (3) can rotate relatively, a power groove is formed in the middle of the right end of the rotary table (4) in a communicated mode, the left side of the inner wall of the power groove extends into the support column (5), a power groove plate (6) is arranged in the power groove, the right end of the power groove plate (6) is arranged at the right end of the inner wall of the first cavity, an inner gear ring (7) is arranged on the inner wall of the power groove plate (6), a power spur gear (8) is arranged on the upper side of the inner wall of the inner gear ring (7) in a meshed mode, a first rotating shaft (9) is arranged at the left end of the power spur gear (8), the left end of the first rotating shaft (9) penetrates through the power groove, the support column (5) and the lower side of the first support frame (1) and stretches out to the left side of the first support frame (1), The first rotating shaft (9) is respectively and rotatably connected with the supporting column (5) and the first supporting frame (1), a power device is arranged at the left lower side of the first supporting frame (1), the power device is in transmission connection with the left end of the first rotating shaft (9), a limiting device is arranged at the lower side of the second supporting frame (2), a pedal bracket (10) is arranged on the limiting device, a pedal (11) is arranged below the pedal bracket (10), a plurality of groups of damping springs (12) are uniformly arranged on the pedal (11), the tops of the plurality of groups of damping springs (12) are all arranged at the bottom of the pedal bracket (10), a central control box (13) is arranged at the left side of the damping springs (12), The central control box (13) is electrically connected with the power device; The limiting device comprises a supporting shaft (19), a guide bin (20), a sliding plate (22), two groups of adjusting rods (23) and two groups of inserting posts (25), wherein the right side of the supporting shaft (19) is arranged at the left lower side of the second supporting frame (2), the left side of the supporting shaft (19) penetrates through the upper side of the pedal support (10) and stretches out to the left side of the pedal support (10), the pedal support (10) is rotatably connected with the supporting shaft (19), the right end of the guide bin (20) penetrates through the supporting shaft (19) and is arranged at the left end of the second supporting frame (2), a second cavity is arranged in the guide bin (20), a plurality of groups of adjusting springs (21) are uniformly arranged on the right side of the inner wall of the second cavity, The right-hand member of slide (22) is installed in the left end of multiunit adjustment spring (21), the left end of slide (22) passes the second cavity and stretches out to the left side of direction storehouse (20), slide (22) and direction storehouse (20) slidable connection, but two sets of adjusting lever (23) are installed respectively in the upside and the downside of slide (22), the upside of footboard support (10) evenly is provided with four sets of adjusting hole (24) of controlling the run-through, the position of four sets of adjusting hole (24) all is located the outside of slide (22), the upside at two sets of adjusting lever (23) is installed respectively in the left side of two sets of inserting posts (25), the right side of two sets of inserting posts (25) stretches into respectively in upside adjusting hole (24) and downside adjusting hole (24).
2. The exoskeleton for rehabilitation of feet according to claim 1, wherein the binding device comprises two groups of arc-shaped cladding plates (26), two groups of support rods (27) and a magic tape (29), the left sides of the two groups of arc-shaped cladding plates (26) are rotatably connected, the two groups of arc-shaped cladding plates (26) are respectively fixed on the first support frame (1) through the two groups of support rods (27), the two groups of arc-shaped cladding plates (26) are respectively rotatably connected with the two groups of support rods (27), an inner protective cotton layer (28) is uniformly arranged on the inner walls of the two groups of arc-shaped cladding plates (26), and the right sides of the two groups of arc-shaped cladding plates (26) are connected through the magic tape (29).
3. The exoskeleton for rehabilitation of feet according to claim 2, further comprising two sets of stop collars (30), two sets of sliding blocks (31) and two sets of stop bars (32), wherein the two sets of stop collars (30) are respectively installed on the left side and the right side of the bottom of the pedal bracket (10), the two sets of sliding blocks (31) are respectively located in the two sets of stop collars (30) and can slide in the two sets of stop collars (30), the bottoms of the two sets of stop bars (32) are respectively installed on the left side and the right side of the top of the pedal (11), and the tops of the two sets of stop bars (32) respectively pass through the bottoms of the two sets of stop collars (30) and are installed on the two sets of sliding blocks (31).
4. An exoskeleton for rehabilitation of a foot as claimed in claim 3 further comprising an outer sheath (33), wherein the outer sheath (33) is sleeved outside the pedal (11), the plurality of groups of damping springs (12), the two groups of stop collars (30) and the two groups of stop bars (32).
5. An exoskeleton for rehabilitation of the foot as claimed in claim 4 wherein the foot pedal (11) is provided with a layer of anti-skid rubber (34) at the bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010715952.7A CN113967149B (en) | 2020-07-23 | 2020-07-23 | Exoskeleton for foot rehabilitation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010715952.7A CN113967149B (en) | 2020-07-23 | 2020-07-23 | Exoskeleton for foot rehabilitation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113967149A CN113967149A (en) | 2022-01-25 |
| CN113967149B true CN113967149B (en) | 2024-07-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010715952.7A Active CN113967149B (en) | 2020-07-23 | 2020-07-23 | Exoskeleton for foot rehabilitation |
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| Country | Link |
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| CN (1) | CN113967149B (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN212395326U (en) * | 2020-07-23 | 2021-01-26 | 和也健康科技有限公司 | Outer skeleton for foot rehabilitation |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005192696A (en) * | 2004-01-05 | 2005-07-21 | Sakai Medical Co Ltd | Medical equipment control device and method |
| TW201330843A (en) * | 2012-01-30 | 2013-08-01 | kun-hong Cai | Gait rehabilitation device |
| KR101556851B1 (en) * | 2014-06-03 | 2015-10-02 | 윤경일 | Apparatus for exercising lower limbs of human body |
| CN105456028A (en) * | 2016-01-13 | 2016-04-06 | 浙江和也健康科技有限公司 | Dynamic magnetic foot and leg massager |
| EP3525729B1 (en) * | 2016-10-13 | 2023-08-02 | Dephy, Inc. | Unidirectional actuated exoskeleton device |
| CN107296725A (en) * | 2017-07-12 | 2017-10-27 | 中国科学技术大学 | Wearable ectoskeleton walking aid device |
| CA3105499A1 (en) * | 2018-07-10 | 2020-01-16 | Dephy, Inc. | Wearable joint augmentation system |
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| CN212395326U (en) * | 2020-07-23 | 2021-01-26 | 和也健康科技有限公司 | Outer skeleton for foot rehabilitation |
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