CN209107993U - A kind of wearable ankle rehabilitation parallel robot of four-degree-of-freedom - Google Patents
A kind of wearable ankle rehabilitation parallel robot of four-degree-of-freedom Download PDFInfo
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- CN209107993U CN209107993U CN201820503091.4U CN201820503091U CN209107993U CN 209107993 U CN209107993 U CN 209107993U CN 201820503091 U CN201820503091 U CN 201820503091U CN 209107993 U CN209107993 U CN 209107993U
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- 210000003423 ankle Anatomy 0.000 title claims abstract description 60
- 239000000463 material Substances 0.000 claims abstract description 8
- 210000002683 foot Anatomy 0.000 claims description 7
- 239000004677 Nylon Substances 0.000 claims description 3
- 210000001699 lower leg Anatomy 0.000 claims description 3
- 229920001778 nylon Polymers 0.000 claims description 3
- 239000002699 waste material Substances 0.000 abstract description 3
- 230000006378 damage Effects 0.000 description 17
- 230000007246 mechanism Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 210000003141 lower extremity Anatomy 0.000 description 3
- 206010033799 Paralysis Diseases 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000035876 healing Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 208000034657 Convalescence Diseases 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 238000009877 rendering Methods 0.000 description 1
- 230000003319 supportive effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Abstract
A kind of wearable ankle rehabilitation parallel robot of four-degree-of-freedom, including rigid sole, two telescopic preceding push rods being flexibly connected with rigid sole front end two sides, two telescopic rear push-rods being flexibly connected with rigid sole rear end sides, the first rigid connector component being flexibly connected with two preceding push rod upper ends, and the second rigid connector component being flexibly connected with two rear push-rod upper ends, the second rigid connector component is located at below the first rigid connector component, the first rigid connector component and the second rigid connector component are made of two rigid connectors for being located at two sides respectively, above the rigid sole, the binding structure of dismountable soft ground material is equipped at ankle and above ankle.The utility model at least has the variation freedom degree for being not only able to satisfy different type ankle rehabilitation training but also is unlikely to cause the waste of mechanical material, moreover it is possible to the advantages that allowing patient to carry out the miscellaneous function of ankle rehabilitation training and normal walking during treatment.
Description
Technical field
The utility model relates to the wearable ankle rehabilitation parallel robots and its application method of a kind of four-degree-of-freedom.
Background technique
The device for healing and training of general ankle is divided into wearable and non-wearable parallel institution.This parallel institution has
The multivariant characteristic of Double tabletop, one of platform is stationary, is changed by the transformation of 6 drive rods or 3 driving pole lengths
Become the pose of another platform, to carry out dorsiflexion to the ankle of damage automatically, turn up and act around rehabilitations such as rings.And 6 drivings
The mechanical mechanism of bar can also be finely adjusted according to the different size and injury site of ankle.This general technology is also matched with computer
It closes, handles doctor the record of the servo-actuated data of damage ankle for the first time by parallel institution, carry out ankle with the mode of teaching
The subsequent rehabilitation of injury.
The exoskeleton mechanism of general auxiliary walking is all the leg connected type of wearing, and general all for the trouble of lower limb paralysis
Person, less to carry out auxiliary propelling machine design for this specific position of ankle damage, these auxiliary propelling machines are general
Power-assisted is provided to human body lower limbs by various struts and fixed frame, makes one still can independently to carry out in the case where injury
The movement of the basis such as walking.
However the shortcomings that prior art, is:
First is that is generally used is all 3DOF or the parallel institution of 6DOF, and 3DOF is easy to appear and ankle
The problem of damage position is not adapted to, and then there are many unnecessary mechanical materials to waste for the parallel institution of 6DOF.So right
For the rehabilitation training of ankle damage patient, the convalescence device driving of the 3DOF of 3 drive rods is very few, and 6DOF is in parallel
Then redundancy is excessive for ankle rehabilitation for mechanism.
Second is that general device for healing and training is only applicable to carry out the part of rehabilitation training, and general auxiliary walking is outer
Bone mechanism generally directed to be all the patient of lower limb paralysis, and do not have the function of rehabilitation training.Because of most foot
Ankle rehabilitation mechanical does not contact to earth, and generally only uses in rehabilitation training Shi Caiyu patient, does not have the function of auxiliary walking.
And the exoskeleton mechanism of common auxiliary walking is too many for simple ankle damage redundancy, specific aim is not strong, substantially uses
It is not specially designed for the part of ankle rehabilitation in the mechanism of ankle damage auxiliary walking.
Utility model content
To solve defect existing for above-mentioned technology, the utility model is intended to provide a kind of wearable ankle health of four-degree-of-freedom
Multiple parallel robot and its application method, at least have both be able to satisfy different type ankle rehabilitation training variation freedom degree,
It is unlikely to cause the waste of mechanical material again, moreover it is possible to patient be allowed to carry out the auxiliary of ankle rehabilitation training and normal walking during treatment
The advantages that assist energy.
Specific utility model content is as follows:
A kind of wearable ankle rehabilitation parallel robot of four-degree-of-freedom is suitable for left foot or right crus of diaphragm, it includes rigidity
Sole, two telescopic preceding push rods being flexibly connected with rigid sole front end two sides connect with the activity of rigid sole rear end sides
Two telescopic rear push-rods connecing, the first rigid connector component being flexibly connected with two preceding push rod upper ends and with two
The second rigid connector component that root rear push-rod upper end is flexibly connected, the second rigid connector component are located at the first rigidity and connect
Below fitting component, the first rigid connector component and the second rigid connector component are rigid by being located at two of two sides respectively
Property connector composition, the bondage of dismountable soft ground material is equipped with above the rigid sole, at ankle and above ankle
Structure.
One of preferably, rigid sole front end two sides are equipped with third rigid connector component, described
It is globular hinge between preceding push rod lower end and third rigid connector component.
One of preferably, it is between two preceding push rod tops and the first rigid connector component
Globular hinge.
One of preferably, the binding structure at the ankle and above ankle includes moccasin set and ties up
Band, the moccasin set are equipped with via hole, and the bandage passes through via hole and is strapped in moccasin set.
Further, the moccasin set above the ankle is connect with the first rigid connector component.
One of preferably, rigid sole rear portion two sides are equipped with the 4th rigid connector component, this
Four rigid connector components and two rear push-rod bottom ends globular hinge.
One of preferably, the top of two rear push-rods and the second rigid connector component are spherical
Hingedly.
One of preferably, the binding structure above the rigid sole includes nylon paste button.
The utility model has the advantages that
The four bar driven Parallel Kinematic Manipulators that the utility model uses, had both met the treatment side of the rehabilitation training of different ankles
Case, and save mechanical material and cost；In addition, the utility model walks auxiliary and rehabilitation training function at ankle damage position
It can combine, application range is wider；When the utility model is used, carrying out rehabilitation training using the mode of teaching first, then
The situation of change for the push rod that another health tape is moved when by acquisition walking simultaneously carries out symmetrical analysis, so that this is practical new
The robot of type can give the damage ankle of patient with power-assisted, achieve the purpose that daily normal walking.
Detailed description of the invention
Fig. 1 is the volume rendering structural schematic diagram of one preferred embodiment of the utility model.
Fig. 2 is the positive side view perspective structure schematic diagram of one preferred embodiment of the utility model.
Appended drawing reference:
1, rigid sole；2, preceding push rod；3, rear push-rod；4, the first rigid connector component；5, the second rigid connector group
Part；6, binding structure；7, third rigid connector component；8, the 4th rigid connector component.
Specific embodiment
The utility model is illustrated below with reference to specific embodiment:
A kind of wearable ankle rehabilitation parallel robot of four-degree-of-freedom, is suitable for left foot or right crus of diaphragm is dressed, it includes
Rigid sole 1, two telescopic preceding push rods 2 being flexibly connected with 1 front end two sides of rigid sole and 1 rear end two of rigid sole
Two telescopic rear push-rods 3 of side flexible connection, the first rigid connector component being flexibly connected with two preceding 2 upper ends of push rod
4 and the second rigid connector component 5 for being flexibly connected with two 3 upper ends of rear push-rod, the second rigid connector component 5
Positioned at 4 lower section of the first rigid connector component, the first rigid connector component 4 and the second rigid connector component 5 difference
Two rigid connectors by being located at two sides form, and are equipped at 1 top of rigid sole, ankle and above ankle detachable
Soft ground material binding structure 6.
One of preferably, the 1 front end two sides of rigid sole are equipped with third rigid connector component 7, institute
It is globular hinge between 2 lower end of push rod and third rigid connector component 7 before stating.
One of preferably, between two preceding 2 tops of push rod and the first rigid connector component 4
For globular hinge.
One of preferably, the binding structure 6 at the ankle and above ankle include moccasin set and
Bandage, the moccasin set are equipped with via hole, and the bandage passes through via hole and is strapped in moccasin set.
Further, the moccasin set above the ankle is connect with the first rigid connector component 4.
One of preferably, the 1 rear portion two sides of rigid sole are equipped with the 4th rigid connector component 8, should
4th rigid connector component 8 and two rear push-rods, the 3 bottom end globular hinge.
One of preferably, the top of two rear push-rods 3 and 5 ball of the second rigid connector component
Shape is hinged.
One of preferably, the binding structure 6 of 1 top of rigid sole includes nylon paste button.
It includes two rigid connectors for being located at two sides that the third, the 4th rigid connector component, which divide equally cloth,.
One of preferably, application method and step are as follows:
(1) foot of patient is placed on the rigid sole 1, is tightened above rigid sole 1, at ankle and on ankle
The binding structure 6 of side；
(2) under rehabilitation training mode when, two preceding push rods 2 and rear push-rod 3 are made to enter random movement method, by doctor to ankle
The damage location in portion carries out rehabilitation training, and four push rods 2,3 in front and back are with the first rigid connector group when recording training by computer
The stroke of part 4 and the variation of the second rigid connector component 5, then participates in without doctor, controls institute at the time point set
Rehabilitation parallel robot is stated independently patient is carried out according to the stroke recorded to repeat rehabilitation training.
(3) under the mode of auxiliary walking, first being worn on unmarred foot in the rehabilitation parallel robot, will before
Afterwards four push rods 2,3 are set as follower model, do not damage the Walking Mode and push rod 2,3 of foot by analyzing when on foot
Flexible and time-varying situation symmetrically carries out parameter setting to the rehabilitation parallel robot of patient's wearing of damage ankle, makes to be damaged
Hurt ankle wearing rehabilitation parallel robot enter assistant mode, and do not damage ankle rehabilitation parallel robot carry out it is asynchronous
Symmetrical variation, when not damaging ankle and carrying out stopping movement, the rehabilitation parallel robot of damage ankle wearing, which also enters, to be stopped
State, but the push rod of front and back four still plays a supportive role.
The above content is only the preferred embodiment of the utility model, for those of ordinary skill in the art, according to this reality
With novel thought, there will be changes in the specific implementation manner and application range, and the content of the present specification should not be construed as
Limitations of the present invention.
Claims (8)
1. a kind of wearable ankle rehabilitation parallel robot of four-degree-of-freedom is suitable for left foot or right crus of diaphragm, it is characterised in that: it
Including rigid sole, two telescopic preceding push rods being flexibly connected with rigid sole front end two sides and rigid sole rear end two
Side be flexibly connected two telescopic rear push-rods, be flexibly connected with two preceding push rod upper ends the first rigid connector component,
And the second rigid connector component being flexibly connected with two rear push-rod upper ends, the second rigid connector component are located at the
Below one rigid connector component, the first rigid connector component and the second rigid connector component are respectively by being located at two sides
Two rigid connectors composition, dismountable soft ground material is equipped with above the rigid sole, at ankle and above ankle
The binding structure of matter.
2. a kind of wearable ankle rehabilitation parallel robot of four-degree-of-freedom according to claim 1, it is characterised in that: institute
Rigid sole front end two sides are stated equipped with third rigid connector component, the preceding push rod lower end and third rigid connector component it
Between be globular hinge.
3. a kind of wearable ankle rehabilitation parallel robot of four-degree-of-freedom according to claim 1, it is characterised in that: institute
It states between two preceding push rod tops and the first rigid connector component as globular hinge.
4. a kind of wearable ankle rehabilitation parallel robot of four-degree-of-freedom according to claim 1, it is characterised in that: institute
Stating the binding structure at ankle and above ankle includes moccasin set and bandage, and the moccasin set is equipped with via hole, described to tie up
Band passes through via hole and is strapped in moccasin set.
5. a kind of wearable ankle rehabilitation parallel robot of four-degree-of-freedom according to claim 4, it is characterised in that: institute
The moccasin set above ankle is stated to connect with the first rigid connector component.
6. a kind of wearable ankle rehabilitation parallel robot of four-degree-of-freedom according to claim 1, it is characterised in that: institute
Rigid sole rear portion two sides are stated equipped with the 4th rigid connector component, the 4th rigid connector component and two rear push-rods
Bottom end globular hinge.
7. a kind of wearable ankle rehabilitation parallel robot of four-degree-of-freedom according to claim 1, it is characterised in that: institute
State two rear push-rods top and the second rigid connector component globular hinge.
8. a kind of wearable ankle rehabilitation parallel robot of four-degree-of-freedom according to claim 1, it is characterised in that: institute
Stating the binding structure above rigid sole includes nylon paste button.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820503091.4U CN209107993U (en) | 2018-04-10 | 2018-04-10 | A kind of wearable ankle rehabilitation parallel robot of four-degree-of-freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820503091.4U CN209107993U (en) | 2018-04-10 | 2018-04-10 | A kind of wearable ankle rehabilitation parallel robot of four-degree-of-freedom |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209107993U true CN209107993U (en) | 2019-07-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820503091.4U Expired - Fee Related CN209107993U (en) | 2018-04-10 | 2018-04-10 | A kind of wearable ankle rehabilitation parallel robot of four-degree-of-freedom |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108567546A (en) * | 2018-04-10 | 2018-09-25 | 超微（上海）骨科医院管理股份有限公司 | A kind of wearable ankle rehabilitation parallel robot and its application method of four-degree-of-freedom |
-
2018
- 2018-04-10 CN CN201820503091.4U patent/CN209107993U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108567546A (en) * | 2018-04-10 | 2018-09-25 | 超微（上海）骨科医院管理股份有限公司 | A kind of wearable ankle rehabilitation parallel robot and its application method of four-degree-of-freedom |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190716 Termination date: 20200410 |
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| CF01 | Termination of patent right due to non-payment of annual fee |