CN201422989Y - Exoskeleton with three degree of freedom for auxiliary ankle joint exercises - Google Patents
Exoskeleton with three degree of freedom for auxiliary ankle joint exercises Download PDFInfo
- Publication number
- CN201422989Y CN201422989Y CN2009201239103U CN200920123910U CN201422989Y CN 201422989 Y CN201422989 Y CN 201422989Y CN 2009201239103 U CN2009201239103 U CN 2009201239103U CN 200920123910 U CN200920123910 U CN 200920123910U CN 201422989 Y CN201422989 Y CN 201422989Y
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- ankle joint
- ring gear
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Abstract
The utility model discloses an exoskeleton with three degree of freedom for auxiliary ankle joint exercises. The exoskeleton comprises a sole plate (1), a first bracket (2) fixed at the front end of the sole plate, a second bracket (9) fixed at the rear end of the sole plate, as well as an upper ring (14), a ring-shaped gear (7) and a lower ring (13) which are coaxially superposed in sequence, wherein the upper and the lower rings (14 and 13) are fixed through two connecting pieces (15 and 18) into an integral body which can rotate relative to the ring-shaped gear (7), the two connecting pieces (15 and 18) are provided with a shaft respectively, the first bracket (2) and the second bracket (9) are connected with the shafts of the two connecting pieces (15 and 18) through bearings, the shafts of the two connecting pieces (15 and 18) are coaxial in the X direction, two U-shaped connecting blocks (16 and 20) which are provided with a shaft respectively are fixed on the ring-shaped gear (7), two shank plate brackets (5 and 6) are connected with the shafts of the two U-shaped connecting blocks (16 and 20) at one end through bearings respectively, the shafts of the U-shaped connecting blocks (16 and 20) are coaxial in the Y direction, the two shank plate brackets (5 and 6) are connected with a shank plate crossbeam (21) at the other end, and a shank plate (4) is fixed with the shankplate crossbeam (21).
Description
Technical field
This utility model relates to assistant movement exoskeleton of three-degree of freedom ankle joint, is a kind of Three Degree Of Freedom that has specifically, can realize to human body ankle dorsal flexion/sole of the foot bend, in turn over/turn up and the assist devices of internal/external rotations three-degree-of-freedom motion.
Background technology
The ectoskeleton technology is a kind of novel man-machine intelligence system's control technology, can be widely used in principal and subordinate's control of robot, the residual patient's of limb medical rehabilitation assistive device.Need Physical Therapist's " by doing and illustrating " to carry out for the rehabilitation maneuver of paralysing, the residual patient of limb is traditional, consumed a large amount of time and muscle power, and can't guarantee competent training time and enough training strength.More existing ankle joint ectoskeletons have only single degree of freedom mostly, can't satisfy the multifarious requirement of training.And the utlity model has the forms of motion that Three Degree Of Freedom can realize that ankle joint is all, and can write down training parameter (movement locus, speed, intensity, time etc.), make the training process qualitative, quantitative, thereby can obtain objective quantitative rehabilitation evaluation index, be beneficial to determining and improvement of therapeutic scheme, and can carry out further investigation the neural rehabilitation rule of patient.
Summary of the invention
The purpose of this utility model is a kind of wearable flexible exoskeleton ankle joint recovering aid motion armarium with three degree of freedom of design.
Assistant movement exoskeleton of three-degree of freedom ankle joint of the present utility model, comprise sole, be fixed on first support of sole front end, be fixed on second support of sole rear end, coaxial superimposed successively last annulus, ring gear and following annulus, on, following annulus is fixed into the integral body of rotating with respect to ring gear by the connector of two tape spools, first support is connected with the axle of two connectors by bearing respectively with second support, the axle of two connectors is coaxial at directions X, on ring gear, be fixed with the U-shaped contiguous block of two tape spools, one end of two calf plate supports is connected with the axle of two U-shaped contiguous blocks by bearing respectively, the axle of two U-shaped contiguous blocks is coaxial in Y direction, the other end of two calf plate supports links to each other with the calf plate crossbeam, calf plate and calf plate crossbeam are fixed, the X-axis motor links to each other with the first harmonic decelerator and is fixed on second support, y-axis motor links to each other with the second harmonic decelerator and is fixed on the first U-shaped contiguous block, Z spindle motor and reduction box are fixed on the annulus by Z spindle motor support, be fixed with gear in the rotating shaft of Z spindle motor, the engagement of gear and ring gear, the axle of first connector and the first U-shaped contiguous block spool on be separately installed with angular transducer.
This utility model is by to the control of the anglec of rotation of X-axis motor, y-axis motor and Z spindle motor, can realize the auxiliary patient of ectoskeleton realize ankle dorsal flexion/sole of the foot bend, in turn over/turn up and the motion respectively of internal/external rotations three degree of freedom and around synergy movement.This structure is compared with existing ankle joint ectoskeleton, has the motion of more freedom and has realized around this synergy movement its novel structure, portable and smart, be convenient to dress, control is convenient, can be used as amyotrophy of human body ankle joint or individuals with disabilities's medical rehabilitation assistive device.
Description of drawings
Fig. 1 is the assistant movement exoskeleton of three-degree of freedom ankle joint structural representation;
Fig. 2 is an assistant movement exoskeleton of three-degree of freedom ankle joint structure vertical view;
Fig. 3 is upper and lower annulus and ring gear connection diagram.
The specific embodiment
Further specify this utility model below in conjunction with the structure accompanying drawing.
With reference to accompanying drawing, assistant movement exoskeleton of three-degree of freedom ankle joint of the present utility model, comprise sole 1, be fixed on first support 2 of sole front end, be fixed on second support 9 of sole rear end, coaxial superimposed successively last annulus 14, ring gear 7 and following annulus 13, on, following annulus 14,13 connectors 15 by two tape spools, 18 are fixed into the integral body of rotating with respect to ring gear 7, first support 2 and second support 9 are respectively by bearing and two connectors 15,18 axle connects, two connectors 15,18 axle is coaxial at directions X, on ring gear 7, be fixed with the U-shaped contiguous block 16 of two tape spools, 20, two calf plate supports 5, an end of 6 is respectively by bearing and two U-shaped contiguous blocks 16,20 axle connects, two U-shaped contiguous blocks 16,20 axle is coaxial in Y direction, two calf plate supports 5,6 the other end links to each other with calf plate crossbeam 21, calf plate 4 is fixing with calf plate crossbeam 21, X-axis motor 19 links to each other with first harmonic decelerator 8 and is fixed on second support 9, y-axis motor 17 links to each other with second harmonic decelerator 3 and is fixed on the first U-shaped contiguous block 16, Z spindle motor and reduction box 10 are fixed on the annulus 14 by Z spindle motor support 11, be fixed with gear 12 in the rotating shaft of Z spindle motor, gear 12 and ring gear 7 engagements, the axle of first connector 15 and the first U-shaped contiguous block 20 spool on be separately installed with angular transducer.
During rehabilitation training, assistant movement exoskeleton of three-degree of freedom ankle joint is worn on patient's the ankle joint, patient's shank is fixed on the calf plate, patient foot is fixed on the sole, the X-axis motor will rotatablely move and pass to the first harmonic decelerator, and the first harmonic decelerator will rotatablely move and pass to two connectors, because two connectors are fixed on the upper and lower annulus, therefore can realize the X-axis rotation of sole, i.e. the rotation of ankle joint X-direction with respect to ring gear.
Y-axis motor will rotatablely move and pass to the second harmonic decelerator, the second harmonic decelerator will rotatablely move and pass to two U-shaped contiguous blocks, because two U-shaped contiguous blocks are fixed on the ring gear, therefore can realize the Y-axis rotation of ring gear, i.e. the rotation of ankle joint Y direction with respect to calf plate.
The Z spindle motor will rotatablely move and pass to gear, because therefore gear and ring gear engagement realize the Z axle rotation of ring gear with respect to upper and lower annulus, be the rotation of ankle joint Z-direction.
Assistant movement exoskeleton of three-degree of freedom ankle joint has three degree of freedom, obtain patient's ankle motion angle parameter by the angular transducer that is installed on connector shaft and the U-shaped contiguous block axle, angle control is carried out in the rotation of X-axis motor, y-axis motor and Z spindle motor, can realize the SERVO CONTROL of ankle joint ectoskeleton sole with respect to calf plate X-axis, Y-axis and the Z axle anglec of rotation, drive dorsiflex/sole of the foot that the patient carries out ankle joint bend, in turn over/turn up and the internal/external rotations rehabilitation training.
Claims (1)
1. assistant movement exoskeleton of three-degree of freedom ankle joint, it is characterized in that comprising sole (1), be fixed on first support (2) of sole front end, be fixed on second support (9) of sole rear end, coaxial superimposed successively last annulus (14), ring gear (7) and following annulus (13), on, following annulus (14,13) connector (15 by two tape spools, 18) be fixed into the integral body of rotating with respect to ring gear (7), first support (2) and second support (9) are respectively by bearing and two connectors (15,18) axle connects, two connectors (15,18) axle is coaxial at directions X, on ring gear (7), be fixed with the U-shaped contiguous block (16 of two tape spools, 20), two calf plate supports (5,6) a end is respectively by bearing and two U-shaped contiguous blocks (16,20) axle connects, two U-shaped contiguous blocks (16,20) axle is coaxial in Y direction, two calf plate supports (5,6) the other end links to each other with calf plate crossbeam (21), calf plate (4) is fixing with calf plate crossbeam (21), X-axis motor (19) links to each other with first harmonic decelerator (8) and is fixed on second support (9), y-axis motor (17) links to each other with second harmonic decelerator (3) and is fixed on the first U-shaped contiguous block (16), Z spindle motor and reduction box (10) are fixed on the annulus (14) by Z spindle motor support (11), be fixed with gear (12) in the rotating shaft of Z spindle motor, the engagement of gear (12) and ring gear (7), the axle of first connector (15) and the first U-shaped contiguous block (20) spool on be separately installed with angular transducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201239103U CN201422989Y (en) | 2009-06-29 | 2009-06-29 | Exoskeleton with three degree of freedom for auxiliary ankle joint exercises |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201239103U CN201422989Y (en) | 2009-06-29 | 2009-06-29 | Exoskeleton with three degree of freedom for auxiliary ankle joint exercises |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201422989Y true CN201422989Y (en) | 2010-03-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009201239103U Expired - Lifetime CN201422989Y (en) | 2009-06-29 | 2009-06-29 | Exoskeleton with three degree of freedom for auxiliary ankle joint exercises |
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| CN (1) | CN201422989Y (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101596139B (en) * | 2009-06-29 | 2011-01-12 | 浙江大学 | Assistant movement exoskeleton of three-degree of freedom ankle joint |
| CN103040594A (en) * | 2013-01-24 | 2013-04-17 | 哈尔滨工业大学 | Pseudo passive power assisting device for ankle joint movement |
| CN103211670A (en) * | 2013-04-12 | 2013-07-24 | 西南交通大学 | Assistant exoskeleton ankle joint joining device |
| CN103445933A (en) * | 2012-05-31 | 2013-12-18 | 雷兴邦 | Rehabilitation equipment for preventing intestinal adhesion after abdominal surgery |
| CN105310860A (en) * | 2015-07-26 | 2016-02-10 | 广东铭凯医疗机器人有限公司 | Ankle joint inversion/eversion rehabilitation training device integrating training with movement state detection |
| CN105560014A (en) * | 2016-02-27 | 2016-05-11 | 中山市丰申电器有限公司 | Equipment for treating spasm |
| CN105560015A (en) * | 2016-02-26 | 2016-05-11 | 中山市丰申电器有限公司 | Therapeutic instrument |
| CN107157710A (en) * | 2017-05-25 | 2017-09-15 | 浙江工业大学 | Sprain of ankle joint power-assisted and recovering aid support |
| CN107928994A (en) * | 2017-10-19 | 2018-04-20 | 布法罗机器人科技（成都）有限公司 | A kind of three passive freedom degree exoskeleton ankle joint mechanisms |
| CN114712052A (en) * | 2022-05-06 | 2022-07-08 | 燕山大学 | Gait correction device and method |
-
2009
- 2009-06-29 CN CN2009201239103U patent/CN201422989Y/en not_active Expired - Lifetime
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101596139B (en) * | 2009-06-29 | 2011-01-12 | 浙江大学 | Assistant movement exoskeleton of three-degree of freedom ankle joint |
| CN103445933A (en) * | 2012-05-31 | 2013-12-18 | 雷兴邦 | Rehabilitation equipment for preventing intestinal adhesion after abdominal surgery |
| CN103445933B (en) * | 2012-05-31 | 2015-06-17 | 雷兴邦 | Rehabilitation equipment for preventing intestinal adhesion after abdominal surgery |
| CN103040594A (en) * | 2013-01-24 | 2013-04-17 | 哈尔滨工业大学 | Pseudo passive power assisting device for ankle joint movement |
| CN103211670A (en) * | 2013-04-12 | 2013-07-24 | 西南交通大学 | Assistant exoskeleton ankle joint joining device |
| CN103211670B (en) * | 2013-04-12 | 2015-01-28 | 西南交通大学 | Assistant exoskeleton ankle joint joining device |
| CN105310860A (en) * | 2015-07-26 | 2016-02-10 | 广东铭凯医疗机器人有限公司 | Ankle joint inversion/eversion rehabilitation training device integrating training with movement state detection |
| CN105560015A (en) * | 2016-02-26 | 2016-05-11 | 中山市丰申电器有限公司 | Therapeutic instrument |
| CN105560014A (en) * | 2016-02-27 | 2016-05-11 | 中山市丰申电器有限公司 | Equipment for treating spasm |
| CN107028734A (en) * | 2016-02-27 | 2017-08-11 | 中山市丰申电器有限公司 | A kind of therapeutic equipment |
| CN107157710A (en) * | 2017-05-25 | 2017-09-15 | 浙江工业大学 | Sprain of ankle joint power-assisted and recovering aid support |
| CN107928994A (en) * | 2017-10-19 | 2018-04-20 | 布法罗机器人科技（成都）有限公司 | A kind of three passive freedom degree exoskeleton ankle joint mechanisms |
| CN107928994B (en) * | 2017-10-19 | 2019-11-15 | 布法罗机器人科技（成都）有限公司 | A kind of three passive freedom degree exoskeleton ankle joint mechanisms |
| CN114712052A (en) * | 2022-05-06 | 2022-07-08 | 燕山大学 | Gait correction device and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20100317 Effective date of abandoning: 20090629 |