CN115476343A - Ankle joint rehabilitation exoskeleton robot - Google Patents
Ankle joint rehabilitation exoskeleton robot Download PDFInfo
- Publication number
- CN115476343A CN115476343A CN202211165710.0A CN202211165710A CN115476343A CN 115476343 A CN115476343 A CN 115476343A CN 202211165710 A CN202211165710 A CN 202211165710A CN 115476343 A CN115476343 A CN 115476343A
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- Prior art keywords
- connecting rod
- foot rest
- ball screw
- ankle joint
- foot
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- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 21
- 210000002683 foot Anatomy 0.000 claims abstract description 36
- 230000007246 mechanism Effects 0.000 claims abstract description 27
- 238000013461 design Methods 0.000 claims abstract description 9
- 230000001360 synchronised effect Effects 0.000 claims abstract description 6
- 210000001503 joint Anatomy 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 16
- 210000003423 ankle Anatomy 0.000 abstract description 5
- 238000000034 method Methods 0.000 abstract description 3
- 241001227561 Valgus Species 0.000 abstract 1
- 241000469816 Varus Species 0.000 abstract 1
- 238000012549 training Methods 0.000 description 6
- 238000013519 translation Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 206010060820 Joint injury Diseases 0.000 description 1
- 208000010428 Muscle Weakness Diseases 0.000 description 1
- 206010028372 Muscular weakness Diseases 0.000 description 1
- 208000012902 Nervous system disease Diseases 0.000 description 1
- 208000025966 Neurological disease Diseases 0.000 description 1
- 206010034701 Peroneal nerve palsy Diseases 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 208000023516 stroke disease Diseases 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- 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
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pain & Pain Management (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Epidemiology (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to the technical field of medical equipment, in particular to a structural design of an ankle joint rehabilitation exoskeleton robot, which comprises the following components: the device comprises a ball screw driving mechanism (I), a spatial multi-connecting-rod RCM mechanism (II) and a foot rest (III). The method is characterized in that: the push-pull rod of the ball screw driving mechanism is connected with the RCM mechanism through a rotary joint, the RCM mechanism is connected with a foot stand, and the foot of a wearer is placed on the foot stand. The rotation motion of the motor is converted into linear motion through a ball screw connected with the synchronous toothed belt, and a push-pull rod connected with the ball screw pushes and pulls the RCM mechanism, so that a foot stand connected with the other end of the RCM mechanism rotates around the ankle joint of a user, and the ankle foot of the user is helped to perform dorsiflexion and plantarflexion actions. There is also a passive degree of rotational freedom in the links of the RCM mechanism, allowing the user to perform varus and valgus movements about the ankle. The alignment of the rotational axis of the foot rest with the rotational axis of the user's ankle joint allows the wearer to wear comfortably and provides a walking pattern closer to that of a regular person.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to an exoskeleton mechanical structure for assisting rehabilitation after ankle joint injury.
Background
The ankle joint of a person performs dorsiflexion and plantarflexion movements during walking, so that thrust is generated to enable the person to normally advance. Stroke and neurological disorders can lead to a worsening of the gait pattern of the patient, leading to walking inefficiency and abnormal walking posture. This condition can also lead to muscle weakness, leaving the foot insufficiently strong to withstand the reaction forces from the ground, resulting in dangerous unstable walking in gait patterns. Therefore, a scientific lower limb rehabilitation training method is particularly important. With the progress of science and technology, exoskeleton robot technology is also rapidly developed, and a great amount of applications are also presented in the aspect of rehabilitation training. Because of the unique advantages of rehabilitation training via exoskeletons, more and more attention is being paid to the development and use of assistive and training devices. The ankle joint exoskeleton robot assists the patient to carry out dorsiflexion and plantarflexion motions, and can achieve the effect of rehabilitation training.
Firstly, the ankle exoskeleton robots only allow the movement of one degree of freedom, so that the movement of the ankle of a user is limited; secondly, some ankle exoskeleton only assists the ankle joint of a patient to plantarflex off the ground without dorsiflexion assistance, and cannot prevent foot drop during walking; meanwhile, many devices are connected with the foot rest through metal wires to assist in movement, and the efficiency is low.
Disclosure of Invention
The ankle joint rehabilitation exoskeleton robot overcomes the defects of the prior art, provides the ankle joint rehabilitation exoskeleton robot, and effectively solves the problems of low degree of freedom, fewer functions and low efficiency of the conventional ankle joint rehabilitation training device.
The invention adopts the following technical scheme for realizing the purpose of the invention:
an ankle joint rehabilitation exoskeleton robot structural design comprising: the device comprises a ball screw driving mechanism (I), a spatial multi-link RCM mechanism (II) and a foot rest (III).
Further, a direct current motor of the ball screw driving mechanism I is fixed on the connecting piece through a screw; the ball screw is fixed on the connecting piece through the screw fixing piece; the synchronous belt is connected with the motor gear and the screw rod gear; the ball screw is connected with a ball nut; the lower part of the ball nut is connected with a push-pull rod.
Further, a connecting rod 1 and a connecting rod 3 of the spatial multi-connecting-rod RCM mechanism II are connected with a fixed rack and the connecting rod 2 through a shaft joint to form a parallelogram; the connecting rod 3 is connected with the connecting rod 4 through a universal joint; the connecting rod 2 and the connecting rod 4 are connected together through a stepped shaft.
Furthermore, a deep groove ball bearing of the foot rest III is embedded in a bearing shell; the gasket is superposed in the foot stool connecting piece; the foot rest, the foot rest connecting piece and the bearing shell are connected together by screws.
Has the advantages that:
compared with the prior art, the invention has the beneficial effects that:
the effect of the technical solution is described textually. The invention adopts a two-degree-of-freedom active ankle joint exoskeleton design, and can help a patient to realize active plantarflexion/dorsiflexion motion and passive inversion/eversion motion. The push-pull of the two-degree-of-freedom multi-connecting-rod joint mechanism is realized by adopting a linear driving mechanism with a high-efficiency ball screw; in addition, the device can assist the feet to push away from the ground, prevent the feet from drooping and help the patient to walk more easily; compared with other exoskeleton designs, the exoskeleton robot has the advantages of low weight, compact structure and smaller rotation error, and can realize more comfortable movement.
Drawings
FIG. 1 is a general block diagram of the present invention;
FIG. 2 is a schematic structural view of a ball screw drive mechanism;
FIG. 3 is a schematic diagram of a spatial multi-link RCM mechanism;
FIG. 4 is a schematic view of a stand structure;
in the figure, 1-direct current motor, 2-connecting piece, 3-motor gear, 4-synchronous belt, 5-lead screw gear, 6-lead screw fixing piece, 7-ball screw, 8-ball nut, 9-push-pull rod, 10-fixing rack, 11-connecting rod 1, 12-connecting rod 2, 13-connecting rod 3, 14-connecting rod 4, 15-stepped shaft, 16-deep groove ball bearing, 17-bearing shell, 18-foot rest connecting piece, 19-gasket and 20-foot rest.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings
As shown in fig. 1 to 4, the structural design of the exoskeleton robot for ankle joint rehabilitation disclosed by the invention comprises a ball screw driving mechanism i, a spatial multi-link RCM mechanism ii and a foot rest iii.
Specifically, a direct current motor (1) of the ball screw driving mechanism I is fixed on a connecting piece (2) through a screw; the ball screw (7) is fixed on the connecting piece (2) through a screw fixing piece (6); the synchronous belt (4) is connected with the motor gear (3) and the screw rod gear (5); the ball screw (7) is connected with a ball nut (8); a push-pull rod (9) is connected below the ball nut (8).
Specifically, a connecting rod 1 (11) and a connecting rod 3 (13) of the spatial multi-connecting-rod RCM mechanism II are connected with a fixed rack (10) and a connecting rod 2 (12) through shaft joints to form a parallelogram; the connecting rod 3 (13) is connected with the connecting rod 4 (14) through a universal joint; the connecting rod 2 (12) and the connecting rod 4 (14) are connected together through a stepped shaft (15).
Specifically, a deep groove ball bearing (16) of the foot rest III is embedded in a bearing shell (17); the gasket (19) is superposed in the foot stool connecting piece (18); the foot rest (20), the foot rest connecting piece (18) and the bearing shell (17) are connected together by screws.
The working process of the invention is as follows:
when the ankle joint exoskeleton robot works, the ankle joint exoskeleton robot is fixed on the front part of a shank of a patient, the screw rod fixing piece (6) and the fixing rack (10) play a role of a fixing device, a shoe of the patient is fixed on a foot rest, and the foot rest drives the foot of the patient to do plantar flexion and dorsiflexion actions.
The rotary motion of the motor (1) is transmitted to the ball screw (7) through the synchronous belt (4), and the ball screw (7) controls the push-pull rod (9) to do linear motion through the ball nut (8). The push-pull rod (9) is connected with the connecting rod (3) (13) through a rotary joint at the tail end. The connecting rod 3 (13) is connected with the connecting rod 4 (14) through a universal joint, so that the push-pull force of the push-pull rod (9) can drive the connecting rod 4 (14) to move. In the parallelogram that fixed frame (10), connecting rod 1 (11), connecting rod 2 (12), connecting rod 3 (13) are constituteed, the rotation of connecting rod 3 (13) drives the motion of connecting rod 1 (11) and connecting rod 2 (12), because connecting rod 2 (12) are nearer apart from fixed frame (10), consequently the lower extreme translation linear velocity of connecting rod 2 (12) is less than the translation linear velocity of connecting rod 4 (14) lower extreme, the translation velocity at step shaft (15) both ends is different this moment, step shaft (15) can produce rotary motion around the rotation center of distal end. Thereby assisting the patient in performing plantar flexion and dorsiflexion movements.
The stepped shaft (15) passes through the deep groove ball bearing (16), the foot rest (20) can rotate around the shaft, and a patient can do the inward turning and outward turning actions. In addition, each piece of the gasket (19) is 5mm, the gasket can be superposed in the foot rest connecting piece (18), the left and right positions of the foot rest (20) can be adjusted, and comfortable wearing experience is provided for a patient.
The above embodiments are merely illustrative of the present patent and do not limit the scope of the patent, and those skilled in the art can make modifications to the parts thereof without departing from the spirit and scope of the patent.
Claims (4)
1. A structural design of an ankle joint rehabilitation exoskeleton robot comprises: the device comprises a ball screw driving mechanism (I), a spatial multi-link RCM mechanism (II) and a foot rest (III), and is characterized in that a push-pull rod (9) of the ball screw driving mechanism (I) is hinged with a connecting rod (13) of the spatial multi-link RCM mechanism (II) through a rotary joint, and a stepped shaft (15) of the spatial multi-link RCM mechanism (II) penetrates through a deep groove ball bearing (16) to be connected with the foot rest.
2. The structural design of an exoskeleton robot for ankle joint rehabilitation according to claim 1, wherein the ball screw driving mechanism (I) comprises: the device comprises a direct current motor (1), a connecting piece (2), a motor gear (3), a synchronous belt (4), a lead screw gear (5), a lead screw fixing piece (6), a ball screw (7), a ball nut (8) and a push-pull rod (9). The direct current motor (1) is fixed on the connecting piece (2) through a screw, and the ball screw (7) is connected with the connecting piece (2) through a screw fixing piece (6); the synchronous belt (4) is connected with the motor gear (3) and the lead screw gear (5) and transmits the power of the direct current motor (1) to the ball screw (7) unit; the ball screw unit controls the pushing and pulling of a push-pull rod (9) through a ball nut (8).
3. The structural design of an ankle joint rehabilitation exoskeleton robot as claimed in claim 1, wherein the spatial multi-link RCM mechanism (II) comprises: the device comprises a fixed frame (10), a connecting rod 1 (11), a connecting rod 2 (12), a connecting rod 3 (13), a connecting rod 4 (14) and a stepped shaft (15). The connecting rod 1 (11) and the connecting rod 3 (13) are connected with the connecting rod 2 (12) and the fixed rack (10) through shaft joints, wherein the fixed rack (10), the connecting rod 1 (11), the connecting rod 2 (12) and the connecting rod 3 (13) form a parallelogram; the connecting rod 3 (13) is connected with the connecting rod 4 (14) through a universal joint; the connecting rod 2 (12) is connected with the connecting rod 4 (14) through a stepped shaft (15).
4. The ankle joint rehabilitation exoskeleton robot structural design as claimed in claim 1, wherein the foot rest (iii) comprises: the deep groove ball bearing comprises a deep groove ball bearing (16), a bearing shell (17), a foot rest connecting piece (18), a gasket (19) and a foot rest (20). The deep groove ball bearing (16) is embedded in the bearing shell (17) to allow the foot rest to rotate around a shaft; each gasket (19) with the thickness of 5mm is superposed in the foot rest connecting piece (18) and used for adjusting the position of the foot rest (20); the bearing shell (17), the foot rest connecting piece (18), the gasket (19) and the foot rest (20) are connected together by screws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211165710.0A CN115476343B (en) | 2022-09-23 | 2022-09-23 | Ankle joint rehabilitation exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211165710.0A CN115476343B (en) | 2022-09-23 | 2022-09-23 | Ankle joint rehabilitation exoskeleton robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115476343A true CN115476343A (en) | 2022-12-16 |
| CN115476343B CN115476343B (en) | 2024-07-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211165710.0A Active CN115476343B (en) | 2022-09-23 | 2022-09-23 | Ankle joint rehabilitation exoskeleton robot |
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| Country | Link |
|---|---|
| CN (1) | CN115476343B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20140019556A (en) * | 2012-08-06 | 2014-02-17 | 서강대학교산학협력단 | Joint actuator for wearable robot |
| CN105997439A (en) * | 2016-07-26 | 2016-10-12 | 郑州轻工业学院 | Three-freedom-degree angle joint recovery assisting device controlled by electromyographic signals and provided with sphere pairs |
| KR20170111255A (en) * | 2016-03-25 | 2017-10-12 | 국방과학연구소 | Robot for lower limb with multi-link type knee joint and method for controlling the same |
| CN107569361A (en) * | 2017-08-28 | 2018-01-12 | 哈尔滨理工大学 | A kind of exoskeleton-type rehabilitation training machine for ankle joint device people |
| CN107773389A (en) * | 2016-08-26 | 2018-03-09 | 三星电子株式会社 | Exercise aid device |
| CN109528440A (en) * | 2018-10-23 | 2019-03-29 | 哈尔滨工业大学 | A kind of lower limb exoskeleton ankle-joint based on telecentricity mechanism |
| CN113183176A (en) * | 2021-04-23 | 2021-07-30 | 中国科学院深圳先进技术研究院 | Motion decoupling parallel driving type exoskeleton robot ankle joint |
-
2022
- 2022-09-23 CN CN202211165710.0A patent/CN115476343B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20140019556A (en) * | 2012-08-06 | 2014-02-17 | 서강대학교산학협력단 | Joint actuator for wearable robot |
| KR20170111255A (en) * | 2016-03-25 | 2017-10-12 | 국방과학연구소 | Robot for lower limb with multi-link type knee joint and method for controlling the same |
| CN105997439A (en) * | 2016-07-26 | 2016-10-12 | 郑州轻工业学院 | Three-freedom-degree angle joint recovery assisting device controlled by electromyographic signals and provided with sphere pairs |
| CN107773389A (en) * | 2016-08-26 | 2018-03-09 | 三星电子株式会社 | Exercise aid device |
| CN107569361A (en) * | 2017-08-28 | 2018-01-12 | 哈尔滨理工大学 | A kind of exoskeleton-type rehabilitation training machine for ankle joint device people |
| CN109528440A (en) * | 2018-10-23 | 2019-03-29 | 哈尔滨工业大学 | A kind of lower limb exoskeleton ankle-joint based on telecentricity mechanism |
| CN113183176A (en) * | 2021-04-23 | 2021-07-30 | 中国科学院深圳先进技术研究院 | Motion decoupling parallel driving type exoskeleton robot ankle joint |
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| Publication number | Publication date |
|---|---|
| CN115476343B (en) | 2024-07-26 |
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