CN217793740U - Ankle foot walking aid - Google Patents
Ankle foot walking aid Download PDFInfo
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- CN217793740U CN217793740U CN202220225531.0U CN202220225531U CN217793740U CN 217793740 U CN217793740 U CN 217793740U CN 202220225531 U CN202220225531 U CN 202220225531U CN 217793740 U CN217793740 U CN 217793740U
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- push rod
- electric push
- ankle
- lower leg
- bottom plate
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Abstract
An ankle foot walking aid belongs to the technical field of walking aids. It comprises a shank mechanism and a sole mechanism; the crus mechanism comprises a crus supporting outer framework and an electric push rod, and a base of the electric push rod is hinged on the crus supporting outer framework; the sole mechanism comprises a bottom plate, and the bottom plate is hinged with a push rod on the electric push rod; the bottom plate is provided with a group of plantar pressure sensors, and the electric push rod and the plantar pressure sensors are in signal connection with an external control system; the crus supporting outer framework is hinged with the bottom plate. The utility model has simple structure, convenient wearing and use, and can effectively assist the user to walk and exercise the motion ability of the ankle; the foot sole pressure sensor is arranged to collect foot sole pressure information, the external control system calculates the angle of movement required by normal walking of the affected side limb through algorithm analysis according to the collected information, and transmits the angle to the electric push rod through a set program to control the electric push rod to correspondingly stretch or contract so as to drive the ankle foot walking aid to move.
Description
Technical Field
The utility model belongs to the technical field of help capable ware, concretely relates to ankle foot helps capable ware.
Background
With the continuous development of science and technology, mechanical exoskeletons are more and more applied to various industries. In the field of walking assistance, the exoskeleton can be widely applied to the aspects of lower limb training and the like of people with mobility difficulty assistance due to the advantages of releasing manpower and the like.
With the increasing age, people often have changes in physical functions, such as decline in physical strength and motor nerve functions, and the physical reactions are not so sensitive, resulting in sluggish movements and uncoordinated conditions. At present, most of old people really have the conditions of muscle weakness, inconvenient walking, easy falling and the like, and obvious adverse effects are brought to the healthy life of the old people.
At present, most of appliances for assisting walking are crutches, walking sticks and the like, the appliances have small effects on really improving the lower limb movement ability of the old, such as ankle joint strength and the like, and the personalized requirements of users and the self-movement coordination are not well considered.
Therefore, there is a need for a new walker that can effectively assist a user in walking and exercising the ankle.
SUMMERY OF THE UTILITY MODEL
To the above-mentioned problem that exists among the prior art, the utility model aims to provide an ankle sufficient helps capable ware that comfort level is high, and the person of facilitating the use dresses, uses, can effectively assist the user to walk.
The utility model provides a following technical scheme: an ankle foot walking aid comprises a shank mechanism and a sole mechanism; the crus mechanism comprises a crus supporting outer framework and an electric push rod, and a base of the electric push rod is hinged to the crus supporting outer framework; the sole mechanism comprises a bottom plate, and the bottom plate is hinged with a push rod on the electric push rod; the bottom plate is provided with a group of plantar pressure sensors, and the electric push rod and the plantar pressure sensors are in signal connection with an external control system; the crus support outer framework is hinged with the bottom plate.
Furthermore, a calf bandage assembly hole is formed in the upper portion of the calf support outer framework, a calf outer sheath matched with a human calf curve is arranged in the middle of the calf support outer framework, and an electric push rod base assembly hole is formed in the outer side of the calf outer sheath.
Furthermore, the lower leg support lining is fixedly arranged on the inner side of the lower leg outer sheath, and the shape of the lower leg support lining is matched with that of the lower leg outer sheath.
Furthermore, an ankle supporting piece is arranged on the bottom plate, and an electric push rod end part assembling hole and a foot bandage assembling hole are formed in the ankle supporting piece.
Furthermore, the upper portion of bottom plate is equipped with the flexmat, and a set of plantar pressure sensor sets up on the flexmat, and the lower part of bottom plate is equipped with the slipmat.
Furthermore, the sole pressure sensor is arranged at the position corresponding to the half sole and the heel of the foot, and the sole pressure sensor is connected with an external power supply through a lead.
Furthermore, the crus support outer framework, the electric push rod and the bottom plate are all manufactured by 3D printing.
Through adopting above-mentioned technique, compare with prior art, the beneficial effects of the utility model are as follows:
1) The utility model has simple structure, convenient wearing and use and good practicability, and can effectively assist the user to walk and exercise the motion ability of the ankle;
2) In the utility model, the sole pressure sensor is arranged to collect sole pressure information, the external control system calculates the angle of movement required by the affected side limb when walking normally according to the collected information through algorithm analysis, and transmits the angle to the electric push rod through a set program, and controls the electric push rod to correspondingly stretch or contract to drive the ankle-foot walking aid to move;
3) The utility model discloses in, through the flexible pad and the slipmat that set up, can further improve comfort level and the security of dressing the use.
Drawings
Fig. 1 is a schematic perspective view of an embodiment of the present invention;
FIG. 2 is a schematic structural view of the outer frame of the calf support in the embodiment of the present invention;
FIG. 3 is a schematic view of the structure of the lower leg support liner according to the embodiment of the present invention;
fig. 4 is a schematic structural view of the electric putter in the embodiment of the present invention;
fig. 5 is a schematic structural diagram of a bottom plate according to an embodiment of the present invention;
fig. 6 is a schematic side view of the embodiment of the present invention;
fig. 7 is a schematic front view of the embodiment of the present invention;
fig. 8 is a schematic structural diagram of the embodiment of the present invention in a motion state.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail with reference to the drawings and the embodiments of the specification. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
On the contrary, the invention is intended to cover alternatives, modifications, equivalents and alternatives which may be included within the spirit and scope of the invention as defined by the appended claims. Furthermore, in order to provide a better understanding of the present invention to the public, certain specific details are set forth in the following detailed description of the invention. It will be apparent to those skilled in the art that the present invention may be practiced without these specific details.
Example (b):
referring to fig. 1-8, an ankle foot walking aid includes a lower leg mechanism and a sole mechanism; the crus mechanism comprises a crus supporting outer framework 1 and an electric push rod, the sole mechanism comprises a bottom plate 4, the crus supporting outer framework 1 is hinged with the bottom plate 4, a base 3 on the electric push rod is hinged on the crus supporting outer framework 1, and a push rod 5 of the electric push rod is hinged with the bottom plate 4; a lower leg support lining 2 is arranged at the inner side of the lower leg support outer skeleton 1.
In particular, the lower leg supports the exoskeleton 1, as shown in fig. 1: the calf shank binding band comprises a calf shank outer sheath 1.1, wherein the calf shank outer sheath 1.1 is in a semicircular cone shape with a split side surface, is attached to a curve of a human calf shank, can be worn on the calf shank, and is provided with strip-shaped calf shank binding band assembling holes 1.2 at two sides, two at each side; the bandage passes through the calf bandage assembling hole 1.2 to realize wearing; a pair of electric push rod base assembling holes 1.3 are formed in the outer side of the shank outer sheath 1.1 and can be connected with the base 3 of the electric push rod in a hinged mode; the shank outer sheath 1.1 is provided with tapping screw holes 1.4, the left side and the right side of the shank outer sheath are respectively 3, the middle part of the shank outer sheath is longitudinally arranged with 2, and the shank outer sheath can be rigidly connected with the shank support lining 2 through the tapping screws; the connecting rod 1.5 on the crus supporting outer framework 1 is connected with the crus outer sheath 1.1, and the connecting rod 1.5 is hinged with the sole mechanism.
In particular, the lower leg support insert 2, as shown in fig. 2: the shank lining comprises a shank lining main body 2.1, the shape of the shank lining main body is fit with the curve of a human shank, and the shank lining main body 2.1 is connected with a shank outer sheath 1.1 through self-tapping screws.
Specifically, as shown in fig. 3: the push rod 5 is nested in the base 3; the end part of the push rod 5 positioned on one side of the base is connected with the outer sheath 1.1 of the crus through a bolt; the push rod 5 is hinged with the bottom plate 4.
Specifically, the bottom plate 4, as shown in fig. 4: the ankle support 4.1 is in a U-shaped structure, an electric push rod end part assembling hole 4.2 is formed in the outer side of the ankle support, and the ankle support 4.1 is hinged with a bolt hole 5.2 in a 75mm electric push rod through the electric push rod end part assembling hole 4.2 through a bolt and a nut; two sides of the ankle support 4.1 are provided with pin holes 4.3 and strip-shaped foot bandage assembling holes 4.4.
Wherein, the crus support outer skeleton 1, the electric push rod 2 and the bottom plate 4 are all manufactured by 3D printing.
This embodiment is through establishing the curved bionics ectoskeleton model of laminating human body, uses plantar pressure sensor to receive and is good for the limb plantar pressure signal of side to through judging patient's gait in order to calculate the required angle that the sick side limb walked, through the length change of miniature electronic push rod, drive the motion of patient's sick side limb, in order to assist the patient to accomplish simple walking.
The specific steps of the control flow are described in detail as follows,
1) Pressure value-voltage signal conversion: reference toFIG. 7 shows that a group of (3 front and back) plantar pressure sensors A, B and C are adopted in the present example to measure the pressure values of the half sole and the heel respectively during walking
The output voltage value of the linear voltage conversion module of the plantar pressure sensor is U i Voltage value U i The pressure value of the sole
Satisfies the following conditions:
in the formula, R AO-RES In order to obtain the size of the feedback resistor,
a plantar pressure value measured for the sensor;
and (3) identifying the motion state of the ankle joint: and (3) constructing an ankle joint motion state identification model by adopting a BP neural network algorithm, wherein the input of the model is the pressure values of three pressure sensors on the sole of the healthy side, and the output of the model is the ankle joint angle value of the affected side. After the model is trained, the corresponding ankle joint angle can be output according to the real-time sole pressure value.
Pressure value of sole
The mapping relationship with the ankle angle value θ is as follows, and the output value can be obtained according to the following formula:
wherein theta is an output value of the output signal,
is an input value, w i For the weight parameters, all weights are initialized using normal distribution with mean 0 and variance 1, and e is an error function. After the ankle joint angle is obtained, the telescopic distance of the putter can be converted by the following formula:
wherein, delta L is the telescopic distance of the electric push rod, L 0 The original extension length of the electric push rod, L 1 The horizontal distance between the rotating fulcrum and the push rod is shown, and theta is the angle value of the ankle joint.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. An ankle foot walker, comprising: comprises a shank mechanism and a sole mechanism; the shank mechanism comprises a shank support outer framework (1) and an electric push rod, and a base (3) of the electric push rod is hinged on the shank support outer framework (1); the sole mechanism comprises a bottom plate (4), and the bottom plate (4) is hinged with a push rod (5) on the electric push rod; a group of plantar pressure sensors are arranged on the bottom plate (4), and the electric push rod and the plantar pressure sensors are in signal connection with an external control system; the crus support outer skeleton (1) is hinged with the bottom plate (4).
2. The ankle foot walking aid according to claim 1, characterized in that the upper part of the lower leg support exoskeleton (1) is provided with a lower leg strap assembly hole (1.2), the middle part is provided with a lower leg outer sheath (1.1) matched with the curve of the lower leg of a human body, and the outer side of the lower leg outer sheath (1.1) is provided with an electric push rod base assembly hole (1.3).
3. An ankle-foot walker according to claim 2, characterised in that said lower leg support insert (2) is fixedly mounted inside the lower leg outer sheath (1.1), the shape of the lower leg support insert (2) matching the shape of the lower leg outer sheath (1.1).
4. An ankle foot walker according to claim 1 or 3, characterized in that the base plate (4) is provided with an ankle support (4.1), the ankle support (4.1) being provided with an electric putter head fitting hole (4.2) and a foot strap fitting hole (4.4).
5. An ankle foot walker according to claim 4, characterized in that the upper part of said sole plate (4) is provided with a flexible pad, a set of plantar pressure sensors is provided on the flexible pad, and the lower part of the sole plate (4) is provided with a non-slip pad.
6. The ankle foot walker as claimed in claim 5 wherein said plantar pressure sensors are located at positions corresponding to the forefoot and heel of the foot, the plantar pressure sensors being connected to an external power source via wires.
7. An ankle foot walker according to claim 1, characterised in that the lower leg support exoskeleton (1), the lower leg support lining (2) and the base plate (4) are made by 3D printing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220225531.0U CN217793740U (en) | 2022-01-27 | 2022-01-27 | Ankle foot walking aid |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220225531.0U CN217793740U (en) | 2022-01-27 | 2022-01-27 | Ankle foot walking aid |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217793740U true CN217793740U (en) | 2022-11-15 |
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ID=83958729
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220225531.0U Active CN217793740U (en) | 2022-01-27 | 2022-01-27 | Ankle foot walking aid |
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| Country | Link |
|---|---|
| CN (1) | CN217793740U (en) |
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2022
- 2022-01-27 CN CN202220225531.0U patent/CN217793740U/en active Active
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