CN114366549B - Multi-degree-of-freedom ankle rehabilitation training device and control method thereof - Google Patents
Multi-degree-of-freedom ankle rehabilitation training device and control method thereof Download PDFInfo
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- CN114366549B CN114366549B CN202111225165.5A CN202111225165A CN114366549B CN 114366549 B CN114366549 B CN 114366549B CN 202111225165 A CN202111225165 A CN 202111225165A CN 114366549 B CN114366549 B CN 114366549B
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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
- A61H1/0266—Foot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- 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
- A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
-
- 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
- A61H2201/1253—Driving means driven by a human being, e.g. hand driven
- A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
- A61H2201/1269—Passive exercise driven by movement of healthy 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
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
Abstract
The invention discloses a multi-degree-of-freedom ankle rehabilitation training device and a control method thereof, aiming at solving the problems of poor wearing comfort and poor rehabilitation effect in the prior art.
Description
Technical Field
The invention belongs to rehabilitation instruments, in particular to a multi-degree-of-freedom ankle rehabilitation training device and a control method thereof.
Background
Mobility-impaired persons suffering from hemiplegia, drop foot, paralysis of lower limbs, etc., are mainly manifested by foot sole beating and toe dragging caused by insufficient mobility of the ankle joint. Common treatments include electrical stimulation and rehabilitation exercise.
In the prior art, the rehabilitation exercise method of the ankle joint comprises the steps of adopting exoskeleton equipment to drive the affected side of a patient to complete passive rehabilitation exercise, and replacing the traditional mode of manually rehabilitation exercise by a physical therapist. The patent refers to the field of 'electric digital data processing'. The device has the characteristic of high active participation degree of a patient, the patient can automatically adjust the motion track of the healthy side ankle joint, and the motor of the healthy side ankle joint is used for controlling the motion track of the healthy side ankle joint on the exoskeleton device.
However, the prior art is not perfect enough, and there are several aspects to be improved:
problem of rehabilitation exercise with only a single degree of freedom: the existing lower limb component for the rehabilitation side comprises a mechanical joint, wherein the mechanical joint only has one degree of freedom, if the mechanical joint is worn on the ankle joint for the rehabilitation side of a patient, the ankle joint is limited to move in the plantar flexion/dorsiflexion direction, and the mechanical joint with a single degree of freedom cannot simulate the movement of the ankle joint with a plurality of degrees of freedom well, so that the problem of poor rehabilitation exercise effect is caused.
Problem of wearing comfort: if the healthy side lower limb component is configured on the healthy side of a patient, one end of the mechanical joint is tied on the lower leg of the patient, the other end of the mechanical joint is tied on the sole of the patient, the mechanical joint is made of hard materials, and the mechanical joint has the comfort problems of heaviness, poor fit, poor adaptation effect, stiffness and the like when configured on a human body.
Summary of the invention
In order to overcome the defects and the existing problems in the prior art, the invention provides a multi-degree-of-freedom ankle joint rehabilitation training device and a control method thereof.
In order to achieve the above purpose, the invention adopts the following technical scheme:
in one aspect, the present invention provides a device for multi-degree-of-freedom ankle rehabilitation training, comprising:
the flexible foot cover is used for being worn on the ankle joint of the healthy side;
the acquisition module is used for acquiring deformation parameters of the flexible foot cover;
the control module generates a first control parameter according to the deformation parameter of the flexible foot sleeve;
an exoskeleton module for wearing on an ankle joint on a patient side;
the driving module is used for controlling the movement of the exoskeleton module according to the first control parameter.
In some aspects, the acquisition module is a strain gauge sensor.
In some aspects, the strain gauge sensor is fixedly disposed on a surface of the flexible boot.
In some aspects, the flexible boot includes a first deformation zone, and the strain gauge sensor is disposed on the first deformation zone, the first deformation zone stretching or contracting if the flexible boot is flexed back and forth.
In some aspects, the first deformation zone includes an ankle front portion, an ankle rear portion, a sole portion, and an instep portion, at least one of the ankle front portion, the ankle rear portion, the sole portion, and the instep portion being provided with a strain sensor.
In some modes, the flexible foot cover comprises a second deformation area, at least two strain sensors are arranged, one strain sensor is arranged on the first deformation area, the other strain sensor is arranged on the second deformation area, and if the flexible foot cover bends left and right, the second deformation area stretches or contracts.
In some aspects, the second deformation zone includes an ankle outer portion and an ankle inner portion, at least one of which is provided with a strain sensor.
In some aspects, the device further comprises a biosensor for acquiring physiological signals of a human body;
the control device is also used for generating a second control parameter if the physiological signal exceeds the safe physiological range;
the driving module is also used for controlling the movement of the exoskeleton module according to the second control parameter.
In some aspects, the biosensor is disposed on an inner surface of the flexible boot.
On the other hand, the invention also provides a control method of the multi-degree-of-freedom ankle rehabilitation training, and the device based on the multi-degree-of-freedom ankle rehabilitation training comprises the following steps:
collecting deformation parameters of the flexible foot cover;
generating a first control parameter according to the deformation parameter;
the movement of the exoskeleton module is controlled in accordance with the first control parameter.
In some modes, the step of generating the first control parameter according to the deformation parameter specifically includes:
the deformation parameters comprise a starting point shape and an ending point shape, and the first control parameters comprise a starting point position and an ending point position;
determining a starting point position according to the starting point shape;
and determining the end point position according to the end point shape.
In some aspects, the exoskeleton module is controlled to remain in the end position for at least two seconds if the exoskeleton module is moved to the end position.
In some aspects, further comprising:
collecting physiological signals of a human body;
if the physiological signal exceeds the safe physiological range, generating a second control parameter;
controlling the movement of the exoskeleton module according to the second control parameter;
and stopping generating the first control parameter when the second control parameter is generated.
Compared with the prior art, the invention has the following outstanding and beneficial technical effects:
(1) In the invention, the flexible foot cover is worn on the ankle joint on the healthy side, and the movement of the ankle joint is detected by detecting the deformation of the flexible foot cover.
(2) In the invention, the movement of the affected side ankle joint is controlled by adopting the movement of the affected side ankle joint, so that a patient can achieve the effect of rehabilitation training according to the intention of the patient, the risks of muscle strain, excessive training and the like in the traditional passive exercise mode are avoided, and the autonomy of exercise is also improved.
(3) In the invention, the physiological signals of the patient are collected and used for stopping the exercise when the patient exercises untimely, for example, when the patient feels muscle spasm or fatigue, the device for multi-degree-of-freedom ankle rehabilitation training controls the ankle on the affected side to return to the neutral position, so that the problems of physical injuries such as pain, overstrain exercise, cramp, pull and the like are avoided.
Drawings
FIG. 1 is a schematic block diagram of the present invention;
FIG. 2 is a schematic diagram of a first embodiment of the present invention in use on a patient;
FIG. 3 is a schematic view of the inside view of the flexible boot of the present invention;
FIG. 4 is a schematic view of the internal structure of the flexible boot of the present invention;
FIG. 5 is a schematic view of the outside view of the flexible boot of the present invention;
FIG. 6 is a schematic diagram of the construction of an exoskeleton module and a drive module according to a first embodiment of the present invention;
FIG. 7 is a schematic view of a second embodiment of the present invention in use on a patient;
FIG. 8 is a schematic structural view of an exoskeleton module according to a second embodiment of the present invention;
FIG. 9 is a schematic cross-sectional view of an exoskeleton module according to a second embodiment of the present invention;
FIG. 10 is an enlarged schematic view of the structure of FIG. 9 at "A" in accordance with the present invention;
FIG. 11 is a schematic view of the structure of dorsiflexion and plantarflexion of the ankle joint created by the present invention;
FIG. 12 is a schematic view of the structure of the pronation and supination of the ankle joint of the present invention;
FIG. 13 is a schematic view of the ankle eversion and varus created by the present invention;
FIG. 14 is a schematic flow chart of the steps of the invention;
in the figure: 1-patient, 2-flexible ankle, 3-acquisition module, 4-control module, 5-exoskeleton module, 6-drive module, 7-wireless communication module, 8-battery module, 9-biosensor, 11-healthy side, 12-sick side, 13-ankle, 131-calf, 132-foot, 31-strain gauge sensor, 51-first member, 52-second member, 53-third member, 54-landing gear, 55-leg bracket, 56-first bracket, 57-second bracket, 58-third bracket, 59-transmission, 60-foot bracket, 61-first motor, 62-second motor, 63-first motor, 64-second motor, 21-ankle anterior portion, 22-ankle posterior portion, 23-ankle medial portion, 24-ankle lateral portion, 25-sole portion, 26-instep portion, 91-lactic acid biosensor, 92-surface myoelectric biosensor, 591-first connector, 592-second connector, 593-third connector, 593-second shaft end cap, 594-second shaft end cap, 595-second shaft end cap, 594-first shaft end cap, 5911-second shaft end cap, 595-second shaft end cap, 594-third connector, 5911-second shaft end cap, 594-connector.
Detailed Description
The invention will be further described with reference to the drawings and specific examples for the purpose of facilitating understanding by those skilled in the art.
As shown in fig. 10, 11 and 12, the ankle joint 13 refers to a joint between the lower leg 131 and the foot 132 of the human body. Movements of the ankle joint 13 include plantarflexion, dorsiflexion, pronation, supination, inversion, eversion, and the like. If the foot 132 and the lower leg 131 are nearly vertical and the foot 132 is not swung left or right, the ankle joint 13 is in a natural state, which is generally called a neutral position. If the ankle joint 13 is the plantar region Qu Shi, the foot 132 is offset downwardly from the neutral limit angle of about 40-50. The limit angle of the foot 132 to the upward deflection from neutral is about 20-30 when the ankle joint 13 is extended dorsiflexed. If the ankle joint 13 pronates, the foot 132 is offset inwardly by a limit angle of about 8 ° from the neutral position. If the ankle joint 13 is rotated outward, the foot 132 is deviated outward from the neutral limit angle by about 85 °. If the ankle joint 13 is turned inward, the foot 132 is deflected inwardly by a limit angle of about 30 ° from the neutral position. If the ankle joint 13 is everted, the foot 132 is deflected outwardly from the neutral position by a limit angle of about 30-35.
It should be noted that, disclose a recovered ectoskeleton device of single low limbs among the prior art, including healthy side low limbs subassembly, healthy side ankle joint sensor, suffering side low limbs subassembly, suffering side ankle joint driving motor, controller, healthy side low limbs subassembly is used for disposing the healthy side at the patient, and healthy side ankle joint sensor is used for gathering the angle information of healthy side low limbs subassembly, and the controller is used for confirming gait data according to the angle information of healthy side low limbs subassembly, and suffering side ankle joint driving motor is used for driving suffering side low limbs subassembly motion according to gait data, suffering side low limbs subassembly disposes the suffering side at the patient. The device has the characteristic of high active participation degree of patients, the patients can automatically adjust the movement track of the ankle joint on the healthy side, and the motor of the ankle joint on the affected side is used for controlling the movement track on the ankle joint on the affected side. However, the prior art is not perfect enough, and has the following problems: (1) The prior ankle joint can only rotate in the front-back direction, the ankle joint can only do plantar flexion and dorsiflexion, and the motion of the ankle joint with multiple degrees of freedom can not be well simulated, so that the problems of non-ideal simulation effect and poor rehabilitation exercise effect are solved; (2) The mechanical joint of the lower limb component on the healthy side is made of a hard steel structure, and the comfort problems of heavy weight, poor fitting degree, poor adaptation effect, stiffness and the like exist when the mechanical joint is worn on a human body.
Example 1
The invention provides a multi-degree-of-freedom ankle rehabilitation training device, which can realize all steps in a multi-degree-of-freedom ankle rehabilitation training method provided by the embodiment of the invention. In actual use, the exercise of the healthy side 11 can be better simulated on the affected side 12, and the wearing comfort on the healthy side 11 can be improved.
Fig. 1 to 6 show a device for rehabilitation training of an ankle joint with multiple degrees of freedom according to an embodiment of the invention, which comprises a flexible foot cover 2, an acquisition module 3, a control module 4, an exoskeleton module 5 and a driving module 6.
A flexible ankle cuff 2 for wearing on an ankle joint 13 of a health side 11.
Wherein the flexible foot cover 2 refers to a soft, light, deformable and elastic foot cover, and the foot cover refers to a cover that can be put over the ankle joint 13. If the flexible foot cover 2 is worn on the ankle joint 13 of the healthy side 11, the flexible foot cover 2 is sleeved on the ankle joint 13 of the healthy side 11, and the flexible foot cover 2 does not influence the free movement of the ankle joint 13 of the healthy side 11. The free movement of the ankle joint 13 of the healthy side 11 means that the ankle joint 13 of the healthy side 11 can perform plantarflexion, dorsiflexion, varus, valgus and the like, so that the ankle joint 13 of the healthy side 11 wearing the flexible boot 2 has a plurality of degrees of freedom. The ankle joint 13 of the healthy side 11 refers to the ankle joint 13 of the healthy side of the patient 1, and the ankle joint 13 is free from trouble and can move autonomously.
Specifically, the flexible foot cover 2 is shaped like a sock and is sewn by adopting a fabric, and the fabric is made of soft and elastic textile fibers.
In actual use, when the ankle joint 13 of the health side 11 wearing the flexible foot cover 2 is in the neutral position, the flexible foot cover 2 is in the first initial state.
And the acquisition module 3 is used for acquiring deformation parameters of the flexible foot cover 2.
The acquisition module 3 is a sensor, and is configured to convert an analog signal of the flexible boot 2 into a digital signal and output the digital signal to the control module 4. The analog signal of the flexible boot 2 refers to the deformation parameter.
The control module 4 generates a first control parameter according to the deformation parameter of the flexible foot cover 2.
Exoskeleton module 5 is for wearing on ankle joint 13 of patient side 12.
Wherein exoskeleton module 5 refers to a device that can be worn on ankle joint 13. It has two or more degrees of freedom so that the affected side 12 ankle joint 13 on the exoskeleton module 5 can perform plantarflexion, dorsiflexion, varus, valgus and the like. The ankle joint 13 of the affected side 12 refers to the ankle joint 13 of the problematic side of the patient 1, which ankle joint 13 suffers from a disease, requiring the exoskeleton module 5 to control its rehabilitation movements.
Specifically, as shown in fig. 6, the exoskeleton module 5 includes a first member 51, a second member 52 is hinged to the first member 51, the second member 52 can rotate back and forth on the first member 51, a third member 53 is hinged to the second member 52, and the third member 53 can rotate left and right on the second member 52.
In actual use, if ankle joint 13 of affected side 12 is worn on exoskeleton module 5, lower leg 131 is fixedly disposed on first member 51 and foot 132 is fixedly disposed on third member 53. If the ankle joint 13 of the affected side 12 plantarflexes or dorsiflexes, the second member 52 and the third member 53 rotate forward or backward on the first member 51. If the ankle joint 13 of the affected side 12 turns in or out, the third member 53 rotates left or right on the second member 52. If the ankle joint 13 of the affected side 12 is in the neutral position, the exoskeleton module 5 is in the second starting state.
A drive module 6 for controlling the movement of the exoskeleton module 5 in accordance with the first control parameter.
The driving module 6 can convert energy of other forms such as medium pressure, electric energy, potential energy and the like into mechanical kinetic energy of the exoskeleton module 5. In this embodiment, the drive module 6 is an electric motor that converts electrical energy into mechanical kinetic energy of the exoskeleton module 5.
Specifically, as shown in fig. 2 and 6, the driving module 6 includes a first motor 61 and a second motor 62, the first motor 61 is drivingly connected to the second member 52, the first motor 61 can drive the second member 52 to rotate back and forth on the first member 51, the second motor 62 is drivingly connected to the third member 53, and the second motor 62 can drive the third member 53 to rotate back and forth on the second member 52.
Specifically, the control module 4 is a servo driver, and the first motor 61 and the second motor 62 are servo motors. The control module 4, the first motor 61 and the second motor 62 form a servo control system, and can effectively control the position, the speed, the acceleration and other parameters of the exoskeleton module 5.
The acquisition module 3 is a strain gauge sensor 31.
The working principle of the strain sensor 31 is based on the resistance strain effect, and is a sensor for converting deformation parameters on the flexible boot 2 into electrical signals. In actual use, if the flexible boot 2 is deformed under force, the strain sensor 31 also generates mechanical deformation, which refers to stretching or shrinking, and the resistance value of the strain sensor 31 changes accordingly, so as to convert the deformation parameter of the flexible boot 2 into an electrical signal on the strain sensor 31, and the control module 4 generates a first control parameter according to the electrical signal on the strain sensor 31, so that signal transmission between the acquisition module 3 and the control module 4 is facilitated.
Specifically, when the strain sensor 31 stretches, the resistance value of the strain sensor 31 increases, and the electrical signal output from the strain sensor 31 decreases. When the strain sensor 31 contracts, the resistance value of the strain sensor 31 decreases, and the electric signal output from the strain sensor 31 increases.
The strain gauge sensor 31 is a strain gauge.
Wherein the whole structure of the strain gage is sheet-shaped, and the strain gage is soft and elastic in texture.
In one embodiment, the strain gauge may be woven with the flexible boot 2. In this embodiment, the strain gauge is fixedly arranged on the surface of the flexible foot cover 2.
And if the flexible foot sleeve 2 deforms, the strain gauge and the flexible foot sleeve 2 deform synchronously, so that the real-time performance and accuracy of acquisition are improved. When the flexible foot cover 2 is worn on the ankle joint 13 of the healthy side 11, the strain gauge can be worn on the ankle joint 13 of the healthy side 11 together, so that the device for multi-degree-of-freedom ankle joint rehabilitation training is convenient to use.
Specifically, the strain gauge is fixedly arranged on the outer surface of the flexible foot cover 2 in an adhesive mode. The glue used for bonding is epoxy resin glue.
In addition, the strain gauge in the embodiment can only collect the telescopic strain, but cannot collect the bending strain, so that the accuracy of collection is improved. In actual use, when the flexible foot cover 2 is bent, the flexible foot cover not only generates telescopic deformation, but also generates bending deformation, and the adopted strain gauge only acquires telescopic strain for improving the accuracy of acquisition.
The flexible foot cover 2 comprises a first deformation area, the strain sensor 31 is arranged on the first deformation area, and if the flexible foot cover 2 is bent back and forth, the first deformation area stretches or contracts.
Wherein the ankle joint 13 of the healthy side 11, on which the flexible foot cover 2 is worn, is bent forward or backward when the foot is plantar flexed or dorsiflexed. The strain sensor 31 is disposed on the first deformation region, and if the first deformation region stretches or contracts, the strain sensor 31 on the first deformation region stretches or contracts together.
The first deformation zone includes an ankle front side portion 21, an ankle rear side portion 22, a sole portion 25, and an instep portion 26, and at least one of the ankle front side portion 21, the ankle rear side portion 22, the sole portion 25, and the instep portion 26 is provided with a strain sensor 31.
In actual use, if the flexible boot 2 is worn on the ankle of the healthy side 11, the ankle front portion 21 is attached to the front side of the ankle joint 13, the ankle rear portion 22 is attached to the rear side of the ankle joint 13, the sole portion 25 is attached to the sole, and the instep portion 26 is attached to the instep. If the ankle 13 of the medial side 11 is plantar Qu Shi, the ankle front portion 21 and the instep portion 26 stretch, and the ankle rear portion 22 and the sole portion 25 contract. When the ankle joint 13 of the ankle joint 11 is extended backward, the ankle front portion 21 and the instep portion 26 contract, and the ankle rear portion 22 and the sole portion 25 stretch.
In this embodiment, the sole portion 25 is provided with a strain gauge sensor 31. If the ankle joint 13 of the medial side 11 is plantar Qu Shi, the strain gauge sensor 31 on the ball portion 25 stretches. If the ankle joint 13 of the medial side 11 is extended dorsiflexion, the strain gauge sensor 31 on the ball portion 25 contracts.
The flexible foot cover 2 comprises a second deformation area, at least two strain sensors 31 are arranged, one strain sensor 31 is arranged on the first deformation area, the other strain sensor 31 is arranged on the second deformation area, and if the flexible foot cover 2 is bent left and right, the second deformation area stretches or contracts.
Wherein the ankle joint 13 of the health side 11 wearing the flexible foot cover 2 is bent leftwards or rightwards when being turned in or turned out. The strain gauge sensor 31 is also disposed on the second deformation zone, and if the second deformation zone stretches or contracts, the strain gauge sensor 31 on the second deformation zone stretches or contracts together.
The second deformation zone includes an ankle outer portion 24 and an ankle inner portion 23, at least one of the ankle outer portion 24 and the ankle inner portion 23 being provided with a strain sensor 31.
In actual use, when the flexible boot 2 is worn on the ankle of the ankle cuff 11, the ankle outer portion 24 is fitted on the outer side of the ankle 13, and the ankle inner portion 23 is fitted on the inner side of the ankle 13. When the ankle joint 13 of the medial malleolus 11 turns inward, the ankle outer portion 24 stretches and the ankle inner portion 23 contracts. When the ankle joint 13 of the medial malleolus 11 turns outward, the ankle outer portion 24 contracts and the ankle inner portion 23 stretches.
In this embodiment, ankle medial portion 23 is provided with a strain gauge sensor 31. If the ankle joint 13 of the medial malleolus 11 turns inward, the strain gauge sensor 31 on the medial ankle portion 23 contracts. If the ankle joint 13 of the medial malleolus 11 turns out, the strain gauge sensor 31 on the medial ankle portion 23 stretches.
The device for multi-degree-of-freedom ankle rehabilitation training also comprises a biosensor 9, wherein the biosensor 9 is used for collecting physiological signals of a human body.
The biosensor 9 is used for converting the collected physiological signals of the human body into electrical signals and transmitting the electrical signals to the control module 4. The biosensor 9 mainly collects physiological signals of cells, saccharides, salts, amino acids and the like of the human body surface layer. The physiological signals include concentration, pH, temperature, myoelectric signals, etc. of biological substances of the human body.
The control module 4 is further configured to generate a second control parameter if the physiological signal exceeds the safe physiological range, and the driving module 6 is further configured to control the movement of the exoskeleton according to the second control parameter.
Wherein, the safe physiological range value is preset in the control module 4 in a program setting mode. The physiological signal exceeding the safe physiological range means that the physiological signal is compared with the safe physiological range, and if the physiological signal is greater than the upper limit value of the safe physiological range or the physiological signal is less than the lower limit value of the safe physiological range, the physiological signal is judged to exceed the safe physiological range.
Specifically, the driving module 6 also controls the movement of the exoskeleton according to the second control parameter, which means that the driving module 6 also controls the braking or resetting of the exoskeleton module 5 according to the second control parameter. And, if the control module 4 generates the second control parameter, the generation of the first control parameter is stopped, so that the first control parameter is prevented from interfering with the second control parameter to control the driving module 6.
In one embodiment, the driving module 6 controls the exoskeleton to brake according to the second control parameter, wherein braking refers to the action that the driving module 6 controls the exoskeleton to gradually slow down to stop. In this embodiment, the driving module 6 controls the exoskeleton module 5 to reset according to the second control parameter, and the resetting of the exoskeleton module 5 refers to that the driving module 6 controls the exoskeleton module 5 to restore to the second starting state of the exoskeleton module 5.
The physiological signal includes at least one of lactate concentration, surface electromyographic signal, blood oxygen concentration, glucose concentration.
Correspondingly, the biosensor 9 includes at least one of a lactate biosensor 91, a surface myoelectricity biosensor 92, a blood oxygen biosensor, and a glucose biosensor. The lactic acid biosensor 91 is used to collect the lactic acid concentration of a human body. The surface myoelectric biosensor 92 is used for electric signals of human muscles, and the blood oxygen biosensor is used for collecting blood oxygen concentration of human body. The glucose biosensor is used for collecting the glucose concentration of a human body.
In the present embodiment, the biosensor 9 includes a lactic acid biosensor 91 and a surface myoelectric biosensor 92. In actual use, the lactic acid biosensor 91 is provided on the lower leg 131 of the healthy side 11, and the myoelectric biosensor 9 may be provided on the lower leg 131.
The whole structure of the biosensor 9 is sheet-shaped, and the biosensor 9 is fixedly arranged on the inner surface of the flexible foot cover 2.
Specifically, the biosensor 9 is provided on the inner surface of the ankle rear portion 22 of the flexible boot 2. In actual use, if the patient 1 wears the flexible foot cover 2, the biosensor 9 can be attached to the lower leg 131 of the patient 1, thereby facilitating the use of the multi-degree-of-freedom ankle rehabilitation training device.
In the present embodiment, the wireless communication module 7 is further included, and the wireless communication module 7 is used for signal transmission between the acquisition module 3 and the control module 4, and is also used for signal transmission between the biosensor 9 and the control module 4.
When the acquisition module 3 generates an electrical signal, the wireless communication module 7 converts the electrical signal into a wireless signal by adopting a wireless data transmission mode and sends the wireless signal to the control module 4. When the electrical signal is generated on the biosensor 9, the wireless communication module 7 converts the electrical signal into a wireless signal by adopting a wireless data transmission mode and sends the wireless signal to the control module 4.
Specifically, the wireless communication module 7 adopts bluetooth technology, is suitable for short-distance signal transmission, and also reduces development cost. The wireless communication module 7 is fixedly arranged on the inner surface of the flexible foot cover 2 and is electrically connected with the biological sensor 9 and the acquisition module 3.
In this embodiment, the device further comprises a battery module 8, wherein the battery module 8 is used for supplying power to the acquisition module 3, the wireless communication module 7 and the biosensor 9.
Specifically, the battery module 8 is fixedly arranged on the inner surface of the flexible foot cover 2, and the battery module 8 is electrically connected with the acquisition module 3 and the wireless communication module 7.
Example two
As shown in fig. 1, 3 to 5 and 7 to 10, another embodiment of the apparatus for rehabilitation training of a multi-degree of freedom ankle joint 13 according to the present invention is provided, and all the steps in the method for rehabilitation training of a multi-degree of freedom ankle joint 13 according to the present invention can be implemented. Another specific structure of the exoskeleton module 5 and the driving device is disclosed in the second embodiment, and the rest part of the second embodiment is identical to the corresponding part of the first embodiment except for the exoskeleton module 5 and the driving device.
As shown in fig. 7, the flexible ankle cuff is worn on the ankle joint 13 of the healthy side 11 and the exoskeleton module 5 is worn on the ankle joint 13 of the affected side 12. The device for rehabilitation training of the ankle joint 13 with multiple degrees of freedom can determine the motion of the ankle joint 13 on the healthy side 11 by detecting the deformation of the flexible foot cover, and the driving module 6 controls the exoskeleton module 5 to drive the ankle joint 13 on the affected side 12 to perform rehabilitation motion according to the motion of the ankle joint 13 on the affected side 12.
Exoskeleton module 5 refers to a device that can be worn on ankle joint 13. It has two or more degrees of freedom so that the affected side 12 ankle joint 13 on the exoskeleton module 5 can perform plantarflexion, dorsiflexion, varus, valgus and the like. The ankle joint 13 of the affected side 12 refers to the ankle joint 13 of the problematic side of the patient 1, which ankle joint 13 suffers from a disease, requiring the exoskeleton module 5 to control its rehabilitation movements.
Specifically, as shown in fig. 8 to 10, the exoskeleton module 5 includes a floor stand 54, a leg bracket 55, a foot bracket 60, a first bracket 56, a second bracket 57, a third bracket 58, and a transmission member 59.
The floor stand 54 is for floor placement on the ground or bed. When the multi-degree-of-freedom ankle joint 13 rehabilitation training device is used, a patient 1 can lie on a bed or sit on a seat, the exoskeleton module 5 is placed on the ground or the bed, the affected side 12 is placed on the leg bracket 55 and the foot bracket 60, and the use comfort of the patient 1 is improved.
The leg bracket 55 is used to secure the calf 131 of the patient side 12 and the foot bracket 60 is used to secure the foot 132 of the patient side 12. In actual use, if ankle joint 13 of patient side 12 is worn on exoskeleton module 5, lower leg 131 can be strapped to leg bracket 55 by one strap, and foot 132 can be strapped to foot bracket 60 by another strap.
The leg bracket 55 is fixedly arranged on the floor stand 54, the first bracket 56 is hinged on the leg bracket 55, the first bracket 56 can rotate back and forth on the leg bracket 55, the second bracket 57 is hinged on the first bracket 56, the second bracket 57 can swing left and right on the first bracket 56, the third bracket 58 is hinged on the second bracket 57, the third bracket 58 can turn left and right on the second bracket 57, and the foot bracket 60 is fixedly arranged on the third bracket 58.
In actual use, if ankle joint 13 of affected side 12 is worn on exoskeleton module 5, lower leg 131 is fixedly disposed on leg bracket 55 and foot 132 is fixedly disposed on foot bracket 60. If the ankle joint 13 of the affected side 12 is plantar flexed or dorsiflexed, the foot bracket 60 is rotated forward or backward by the first bracket 56. If the ankle joint 13 of the affected side 12 rotates inwards or outwards, the foot bracket 60 swings leftwards or rightwards under the driving of the second bracket 57. If the ankle joint 13 of the affected side 12 turns in or out, the foot bracket 60 turns left or right under the drive of the third bracket 58.
The transmission member 59 is connected between the first bracket 56 and the third bracket 58, and the first bracket 56, the second bracket 57, the third bracket 58, and the transmission member 59 constitute a space link mechanism. If the second bracket 57 swings left and right on the first bracket 56, the third bracket 58 can be driven to turn left and right on the second bracket 57.
In actual use, if the second support 57 drives the ankle joint 13 of the affected side 12 to rotate inwards, the second support 57 also drives the ankle joint 13 of the affected side 12 to turn inwards through the third support 58. If the second support 57 drives the ankle joint 13 of the affected side 12 to rotate outwards, the second support 57 also drives the ankle joint 13 of the affected side 12 to turn outwards through the third support 58.
Specifically, the transmission member 59 includes a first connecting member 591, a second connecting member 592, and a third connecting member 593, the first connecting member 591 being hinged to the third bracket 58, the first connecting member 591 being rotatable back and forth on the third bracket 58, the first connecting member 591 being further rotatably and slidably disposed on the second connecting member 592, the third connecting member 593 being fixedly disposed on the first bracket 56, the third connecting member 593 being further rotatably and slidably disposed on the second connecting member 592.
The overall structure of first connecting piece 591 is the shaft-like, the one end of first connecting piece 591 articulates on third support 58, the other end of first connecting piece 591 is fixed to be provided with first axle hole 5911, the overall structure of second connecting piece 592 is also the shaft-like, the one end of second connecting piece 592 is fixed to be set up on first support 56, the other end of second connecting piece 592 is fixed to be provided with second axle hole 5931, first axle hole 5921 and second axle hole 5922 have been seted up respectively on the second connecting piece 592, the axial of first axle hole 5921 and the axial of second axle hole 5922 mutually perpendicular, the cross section of first axle hole 5911, the cross section of second axle hole 5931, the cross section of first axle hole 5921 and the cross section of second axle hole 5922 are circular, first axle hole 5911 sets up in first axle hole 5921, first axle hole 5911 can slide in the axial of first axle hole 5921, first axle hole 5911 still can rotate around first axle hole 5921, second axle hole 5931 sets up in second axle hole 5922, second axle hole 5931 can slide in the axial of second axle hole 5931.
The first shaft hole 5921 and the second shaft hole 5922 are blind holes, the first end cover 594 and the second end cover 595 are detachably arranged on the second connecting piece 592, the first end cover 594 and the second end cover 595 can be fixed on the second connecting piece 592 through bolts respectively, the first end cover 594 is arranged at the outer end of the first shaft hole 5921, the first connecting piece 591 penetrates through the first end cover 594, the first end cover 594 limits the first shaft section 5911 in the first shaft hole 5921, the second end cover 595 is arranged at the outer end of the second shaft hole 5922, the third connecting piece 593 penetrates through the second end cover 595, and the second end cover 595 limits the second shaft section 5931 in the second shaft hole 5922.
Specifically, the drive module 6 includes a first motor 63 for driving the first bracket 56 to rotate back and forth on the foot 132 bracket, and a second motor 64 for driving the second bracket 57 to swing left and right on the first bracket 56. The first motor 63 is fixedly disposed on the foot 132 bracket and the first bracket 56 is fixedly disposed on the shaft of the first motor 63, the first bracket 56 being hinged to the foot 132 bracket by the first motor 63. The second motor 64 is fixedly disposed on the first bracket 56, the second bracket 57 is fixedly disposed on a shaft of the second motor 64, and the second bracket 57 is hinged to the first bracket 56 through the second motor 64.
The ankle joint 13 can move in a single degree of freedom under the action of muscle force, and can move cooperatively in a plurality of degrees of freedom. For example, under normal physiological motion, the ankle joint 13 does not evert or evert alone, and the ankle joint 13 tends to pronate or supinate as well. However, the existing rehabilitation apparatus cannot support the cooperative rehabilitation exercise of the ankle joint 13 in the directions of multiple degrees of freedom. In addition, for patient 1, long-term bedridden wound has caused muscular atrophy, motor nerve damage and other problems, and conventional rehabilitation equipment drives the ankle joint 13 at the affected side 12 to do simple rehabilitation exercise, so that the effects of muscle rehabilitation and motor nerve rehabilitation are not ideal.
In the invention, the exoskeleton module 5 and the driving module 6 are adopted to assist the patient 1 in rehabilitation exercise, if the second bracket 57 drives the ankle joint 13 of the affected side 12 to rotate inwards or outwards, the second bracket 57 also drives the ankle joint 13 of the affected side 12 to turn inwards or outwards through the third bracket 58, so that the multi-freedom-degree ankle rehabilitation training device can assist the inversion/eversion and the inwards/outwards rotation of the ankle joint 13 of the affected side 12 to cooperatively perform, the physiological exercise of the ankle joint 13 is more met, the left and right swing of the second bracket 57 on the first bracket 56 and the left and right turning of the third bracket 58 on the second bracket 57 are driven through the first bracket 56 and the driving piece 59, and the multi-freedom-degree ankle rehabilitation training device can cooperatively work in multiple degrees of freedom only through a mechanical structure, so that the multi-freedom-degree ankle rehabilitation training device has the advantages of being in accordance with ergonomics, low cost and reliable work.
In addition, in the invention, the multi-degree-of-freedom ankle rehabilitation training device can assist the inversion/eversion and the internal rotation/external rotation of the ankle joint 13 of the patient side 12 to cooperatively carry out, if the ankle joint 13 of the patient side 12 moves to the limit position, the driving module 6 and the exoskeleton module 5 force the ankle joint 13 of the patient side 12 to be kept at the limit position for a period of time, and can effectively stimulate muscles and motor nerves of the patient 1, so that the patient 1 can fully recover in physical function and spirit, and the time for recovering the normal activity ability of the patient 1 is shortened.
Example III
Correspondingly, the embodiment of the invention also provides a control method of the multi-degree-of-freedom ankle joint rehabilitation training, which is implemented by adopting the device of the multi-degree-of-freedom ankle joint rehabilitation training provided by the embodiment of the invention and is used for rehabilitation of the affected side 12 ankle joint 13.
Fig. 14 is a schematic flow chart of steps of an embodiment of a control method for multi-degree-of-freedom ankle rehabilitation training according to the present invention, including:
s1, controlling the flexible foot sleeve 2 and the exoskeleton module 5 to reset.
In this embodiment, the device for rehabilitation training of the ankle joint with multiple degrees of freedom is started, and when the ankle joint 13 of the health side 11 moves to the neutral position, the flexible foot cover 2 is reset, and the control module 4 controls the driving module 6 to drive the external bone module 5 to reset. Resetting of the flexible boot 2 means that the flexible boot 2 is arranged in the first initial state. Reduction of exoskeleton module 5 refers to exoskeleton module 5 being disposed in a second initial state.
S2: the deformation parameters of the flexible foot cover 2 are collected.
In this embodiment, the control module 4 collects the deformation parameters of the flexible boot 2 through the collection module 3. The acquisition module 3 is a strain type sensor 31, and the strain type sensor 31 converts deformation parameters of the flexible foot cover 2 into electric signals and sends the electric signals to the control module 4.
S3: and generating a first control parameter according to the deformation parameter.
In this embodiment, the control module 4 is used to generate the deformation parameters into the first control parameters.
And S4, controlling the movement of the exoskeleton module 5 according to the first control parameter.
In this embodiment, the control module 4 controls the movement of the exoskeleton module 5 according to the first control parameter via the driving module 6.
The step of generating the first control parameter according to the deformation parameter specifically includes:
the deformation parameters comprise a starting point shape and an ending point shape, and the first control parameters comprise a starting point position and an ending point position;
determining a starting point position according to the starting point shape;
and determining the end point position according to the end point shape.
In this embodiment, the starting point shape refers to a shape when the acquisition module 3 starts to acquire the flexible foot cover 2, and the acquisition module 3 feeds back the starting point shape of the flexible foot cover 2 to the control module 4 by means of an electrical signal. The final shape refers to the shape when the acquisition module 3 finishes acquiring the flexible foot cover 2, and the acquisition module 3 feeds back the final shape of the flexible foot cover 2 to the control module 4 in an electric signal mode. The starting position refers to the position at which exoskeleton module 5 starts to move. The end position refers to the position at which exoskeleton module 5 ends the motion. The device for multi-freedom ankle rehabilitation training can feed back the position of the exoskeleton to the control module 4 through the encoder.
In this embodiment, the first control parameter further includes a first speed and a first direction. The first speed may be preset in the control module 4 in a process sequence setting. The first direction may be determined according to the start position and the end position, thereby determining a direction of a movement trace of the exoskeleton module 5 from the start position to the end position.
In practical use, the driving module 6 determines the motion trail of the exoskeleton module 5 according to the first control parameters of the starting point position, the ending point position, the first speed and the first direction, so as to achieve that the motion of the ankle joint 13 of the healthy side 11 and the motion of the ankle joint 13 of the affected side 12 are almost mirror images.
If exoskeleton module 5 is controlled to move to the end position, exoskeleton module 5 is controlled to remain in the end position for at least two seconds.
In this embodiment, the control module 4 controls the exoskeleton to remain in the end position for at least two seconds via the drive module 6. In actual use, the final position is generally the movement limit position of the ankle joint 13 on the affected side 12, so that the ankle joint 13 on the affected side is kept for more than two seconds, and the rehabilitation of the ankle joint 13 on the affected side 12 is facilitated.
Collecting physiological signals of a human body;
if the physiological signal exceeds the safe physiological range, generating a second control parameter;
controlling the movement of the exoskeleton module 5 according to the second control parameter;
and stopping generating the first control parameter when the second control parameter is generated.
In the present embodiment, the control module 4 collects physiological signals of the human body through the biosensor 9. If the second control parameter is generated, the control module 4 controls the movement of the exoskeleton module 5 through the driving module 6. Specifically, the control module 4 controls the exoskeleton module 5 to reset through the driving module 6.
The following describes the use method of the device for multi-degree-of-freedom ankle rehabilitation training:
the patient 1 lies on the bed.
The device for multi-degree-of-freedom ankle rehabilitation training is started.
The ankle joint 13 of the healthy side 11 controls the movement of the ankle joint 13 of the affected side 12 through the multi-degree-of-freedom ankle joint rehabilitation training device;
if the patient 1 feels uncomfortable physiologically, the device for multi-degree-of-freedom ankle rehabilitation training controls the ankle 13 of the affected side 12 to return to the neutral position.
Among these, the physiological discomfort of the patient 1 may be muscle cramps, physical exhaustion, and the like.
In summary, in the invention, the flexible ankle sheath 2 is worn on the ankle joint 13 of the health side 11, and the movement of the ankle joint 13 is detected by detecting the deformation of the flexible ankle sheath 2.
In the invention, the movement of the ankle joint 13 of the affected side 12 is controlled by adopting the movement of the ankle joint 13 of the healthy side 11, so that the patient 1 can achieve the effect of rehabilitation training according to the self intention, the risks of muscle strain, excessive training and the like existing in the traditional passive exercise mode are avoided, and the autonomy of exercise is also improved.
In the invention, the physiological signals of the patient 1 are collected to stop the exercise when the patient 1 exercises untimely, for example, the multi-degree-of-freedom ankle rehabilitation training device controls the ankle 13 of the affected side 12 to return to the neutral position when the patient 1 feels muscle spasticity or fatigue, so as to avoid the problems of body injuries such as pain, overstrain exercise, cramping and strain.
The above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention: all equivalent changes of structure, shape and principle of the invention are covered in the protection scope of the invention.
Claims (9)
1. A multi-degree-of-freedom ankle rehabilitation training device, comprising:
the flexible foot cover is used for being worn on the ankle joint of the healthy side;
the acquisition module is used for acquiring deformation parameters of the flexible foot cover;
the control module generates a first control parameter according to the deformation parameter of the flexible foot sleeve;
the exoskeleton module is used for being worn on an ankle joint on a patient side and has more than two degrees of freedom;
the driving module is used for controlling the movement of the exoskeleton module according to the first control parameter;
the exoskeleton module comprises a floor stand, a leg bracket, a foot bracket, a first bracket, a second bracket, a third bracket and a transmission piece; the floor stand is placed on the ground or a bed, the leg brackets are fixedly arranged on the floor stand, the first support is hinged on the leg brackets, the first support rotates back and forth on the leg brackets, the second support is hinged on the first support, the second support swings left and right on the first support, the third support is hinged on the second support, the third support turns left and right on the second support, and the foot brackets are fixedly arranged on the third support; the transmission piece is connected between the first bracket and the third bracket, and the first bracket, the second bracket, the third bracket and the transmission piece form a space link mechanism;
if the second bracket drives the ankle joint on the affected side to rotate inwards, the second bracket drives the ankle joint on the affected side to turn inwards through the third bracket; if the second bracket drives the ankle joint of the affected side to rotate outwards, the second bracket drives the ankle joint of the affected side to turn outwards through the third bracket;
the transmission piece includes first connecting piece, second connecting piece and third connecting piece, and first connecting piece articulates on the third support, and first connecting piece can rotate around on the third support, and first connecting piece rotates and slidingly sets up on the second connecting piece, and the fixed setting of third connecting piece is on first support, and the third connecting piece rotates and slidingly sets up on the second connecting piece.
2. The device for multi-degree-of-freedom ankle rehabilitation training according to claim 1, wherein the acquisition module is a strain gauge sensor.
3. The device for multi-degree-of-freedom ankle rehabilitation training according to claim 2, wherein the strain sensor is fixedly arranged on the surface of the flexible foot cover.
4. A multi-degree of freedom ankle rehabilitation training device according to claim 2 or 3, wherein the flexible boot comprises a first deformation zone, the strain gauge sensor is disposed on the first deformation zone, and the first deformation zone stretches or contracts if the flexible boot is flexed back and forth.
5. The device for multi-degree of freedom ankle rehabilitation training according to claim 4, wherein the first deformation zone comprises an ankle front side portion, an ankle rear side portion, a sole portion and an instep portion, and at least one of the ankle front side portion, the ankle rear side portion, the sole portion and the instep portion is provided with a strain sensor.
6. The device for rehabilitation training of an ankle joint with multiple degrees of freedom according to claim 4, wherein the flexible boot comprises a second deformation zone, at least two strain sensors are provided, one strain sensor is provided on the first deformation zone, the other strain sensor is provided on the second deformation zone, and the second deformation zone stretches or contracts when the flexible boot is bent left and right.
7. The multi-degree of freedom ankle rehabilitation training device of claim 6 wherein the second deformation zone comprises an ankle outer portion and an ankle inner portion, at least one of the ankle outer portion and the ankle inner portion being provided with a strain sensor.
8. The multi-degree of freedom ankle rehabilitation training device according to claim 1, further comprising a biosensor for acquiring physiological signals of a human body; the control device is also used for generating a second control parameter if the physiological signal exceeds the safe physiological range; the driving module is also used for controlling the movement of the exoskeleton module according to the second control parameter.
9. The multi-degree of freedom ankle rehabilitation training device of claim 8 wherein the biosensor is disposed on the inner surface of the flexible boot.
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