KR101661534B1

KR101661534B1 - Active Ankle Rehabilitation Device

Info

Publication number: KR101661534B1
Application number: KR1020150108417A
Authority: KR
Inventors: 송준찬; 이전형; 황보숙; 권중원; 김대희; 서갑호; 박용식; 박성호
Original assignee: 대구보건대학교산학협력단; 황보숙
Priority date: 2015-07-31
Filing date: 2015-07-31
Publication date: 2016-09-30

Abstract

The present invention relates to an ankle rehabilitation device comprising: a main part including a fixing plate formed to have a size for supporting at least both feet, and a cover accommodating to seal the fixing plate; a footrest part including a main plate rotating along a hinge in an X axial-direction in the upper end of the fixing plate, and a pair of auxiliary plates rotating along a hinge in a Y axial-direction inside the main plate; a driving part including first and second actuators connected to the main plate and the auxiliary plate, respectively, on the fixing plate to apply a rotational force; and a connection part including a drive bracket connected to the first actuator on the lower end of the main plate to deliver a rotational force, and a branch unit integrally connected to the second actuator on the lower end of the auxiliary plate to deliver a rotational force at the same time. The present invention has effects of proving only a mandatory exercise function suitable for rehabilitation of an ankle to minimize a side effect of an exercise, and allowing everyone to easily and conveniently handle an ankle rehabilitation device at lower costs.

Description

[0001] The present invention relates to an active ankle rehabilitation device,

The present invention relates to a device for rehabilitating a patient suffering from an ankle motion deterioration, and more particularly, to an active ankle rehabilitation device capable of naturally exercising a muscle by a reflex action according to the nervous system through external stimulation, &Lt; / RTI >

Normally, the hip joint and ankle joint play an important role in balance adjustment for physical stability. When the range of the body shake is large, the hip joint acts. When the shake is small, the ankle joint mainly works. In particular, the balance control ability and strength of the elderly are decreased with increasing age, the loss of balance is related to the weakening of ankle strength, and dynamic ankle stability is remarkably decreased with age.

The ankle joint has the ability to control the movement and impact from the foot, but it is structurally susceptible to injury. For example, when the toes are pointed downwards, when the foot is mechanically bent, the back of the talus enters between the tibia and the fibula, narrowing the back, resulting in excessive movement and ankle damage. In addition, the ankle joint is most commonly involved in ligament injuries, and more than 50% to 70% of the total injury to the ankle joint is caused by ankle ligament injuries. The ligamentous ligament, which functions to prevent anterior dislocation of the talus, is the weakest of the three external ankle ligaments, and may be damaged in the innards, inferior flexion, and internal rotation postures. In addition, as the aging process progresses, the ankle joints become weaker due to muscle and kinematic problems, resulting in injury such as falls. Therefore, with the increase in the elderly population, the demand for rehabilitation equipment for stroke patients, varicose veins, calf muscles and lumbar spine is expected to increase.

For example, Korean Patent Laid-Open No. 10-2005-0032318 "Horse Training Machine ", Korean Patent Registration No. 10-0875992" Lower Body Muscle Strengthening Device ", and Korean Patent Application Publication No. 10-2014-0030567 & . The proposed instruments have only limited flexion and extension in terms of range of motion and thus lack kinematic function.

As another example, Korean Patent Registration No. 10-0841177 entitled " Upper Linked Walking Rehabilitation Robot ", Korean Patent Registration No. 10-0921985 entitled " Gait Trajectory Guiding Device for Walking Rehabilitation Device ", and Korean Patent Laid- -0096878 "Walking rehabilitation training device" is proposed. The proposed devices induce the same movement as the actual walking, but there is a problem that the kinematic function is insufficient because only flexion and extension are possible in terms of the range of motion of the ankle joint. Particularly, there is a problem that the volume of the apparatus is considerable and the use thereof is restricted with a high cost.

In addition, Korean Patent Registration No. 10-1081837 entitled "Traction Exercise Assisting Device" and Korean Patent Laid-Open Publication No. 10-2014-0132322 entitled "Ankle Exercise Assembly and Ankle Exercise Device Using the Same. The proposed devices induce flexion, extension, adduction, abduction and inner and outer movement in terms of the range of motion of the joints, thus greatly improving the kinematic function. However, due to the complicated structure of the various joint exercises, the burden of the consumer is increased due to the increase of the cost due to the parts. Especially, there is a problem that the side effect occurs when the patient uses medical knowledge because of various joint movements.

Korean Patent Publication No. 10-2005-0032318 Korean Patent Registration No. 10-0875992 Korean Patent Publication No. 10-2014-0030567 Korean Patent Registration No. 10-0841177 Korean Patent Registration No. 10-0921985 Korean Patent Publication No. 10-2013-0096878 Korean Patent Registration No. 10-1081837 Korean Patent Publication No. 10-2014-0132322

SUMMARY OF THE INVENTION Accordingly, the present invention has been made in view of the above problems, and it is an object of the present invention to provide an ankle joint which has the most important kinematic function but which is relatively light and simple and adopts a compact structure, And to provide an active ankle rehabilitation apparatus capable of minimizing the burden on the consumer.

In order to achieve the above object, the present invention provides an ankle rehabilitation apparatus comprising: a main body having a fixing plate formed at a size to support at least two feet; and a cover for hermetically accommodating the fixing plate; A main plate that rotates along a hinge in the X-axis direction on an upper end of the fixing plate, and a pair of auxiliary plates that rotate along the Y-axis direction hinge in the main plate; A driving unit having first and second actuators connected to the main plate and the auxiliary plate on the fixing plate to apply rotational force; And a connection part connected to the lower end of the main plate and connected to the first actuator to transmit a rotational force and a connecting part connected to the lower end of the assisting plate by one of the first and second actuators for simultaneously transmitting a rotational force .

In this case, the fixing plate according to the present invention is characterized in that the upper end of the fixing plate is provided with a latch for preventing deflection of the main plate.

In addition, the fixing plate according to the present invention further comprises a handle for guiding the patient to maintain a correct posture.

Further, the main plate according to the present invention is characterized in that the main plate is provided at its lower end with a holder for preventing the auxiliary plate from sagging.

Further, the assisting plate according to the present invention may further include a concave-convex projection or a soft rubber pad for preventing slippage of the patient.

The branching means according to the present invention may further comprise an articulating table connected to the lower end of the ancillary plate such that the articulating table can freely flow, a rotary table rotatable at a predetermined radius from the rotary table at one end of the rotary table, And a linking shaft for synchronizing the driving of the second actuator with the driving shaft and a connecting rod for transmitting rotational force to both ends of the connecting shaft.

At this time, the articulation frame according to the present invention is provided with a through hole for guiding the connection between the assisting plate and the fluidized bed at both ends, a housing in which the inner circumferential surface is recessed at a predetermined radius, and a spherical joint .

It should be understood, however, that the terminology or words of the present specification and claims should not be construed in an ordinary sense or in a dictionary, and that the inventors shall not be limited to the concept of a term It should be construed in accordance with the meaning and concept consistent with the technical idea of the present invention based on the principle that it can be properly defined. Therefore, the embodiments described in the present specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention, and not all of the technical ideas of the present invention are described. Therefore, It is to be understood that equivalents and modifications are possible.

As described in the above description, the present invention is directed to a method of minimizing side effects by selecting only the most important flexion, extension, adduction, and abduction motions in the ankle joint, adopting a comparatively thin and simple structure, Thereby reducing the overall manufacturing cost and minimizing the burden on the consumer.

1 is a perspective view showing the entire rehabilitation apparatus according to the present invention.
FIG. 2 and FIG. 3 are exploded views showing the rehabilitation mechanism according to the present invention. FIG.
Fig. 4 and Fig. 5 are views showing a configuration of a main body according to the present invention. Fig.
Fig. 6 to Fig. 9 are views showing a footing part according to the present invention; Fig.
10 is a configuration diagram showing the operation of the rehabilitation mechanism according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

The present invention relates to an ankle rehabilitation apparatus in which a patient does not use muscles spontaneously but can naturally exercise muscles by reflex action according to the nervous system through external stimulation. And a driving unit 30 and a connecting unit 40 as main components. The present invention provides only essential exercise functions suitable for rehabilitation of the ankle, thereby minimizing adverse effects caused by exercise and allowing easy and convenient handling by anyone at low cost.

The body 10 according to the present invention plays a role of supporting the patient from the floor as shown in FIG. 1 and accommodating the foot plate 20, the driving unit 30, and the connecting unit 40. 2 and 3, the main body 10 includes a fixing plate 11 for mounting the footrest 20, the driving unit 30 and the connecting unit 40, And a cover 15 that seals the footrest 20, the driving unit 30, and the connecting unit 40 from the outside.

As shown in FIG. 4, the fixing plate 11 is a rectangular steel plate having a thickness that can be stably supported from the bottom regardless of the weight of the patient. The lower plate has a plurality of rubber legs And a power supply unit and a switch for supplying and disconnecting power to and from the driving unit 30 are mounted on the upper front side. The fixing plate 11 includes a plurality of first and second mounting bases 12a, 12b and 12c for guiding mounting of the footrest 20, the driving unit 30 and the connecting unit 40 in a manner to be interlocked with each other Respectively.

The first mounting base 12a is coupled to the upper rear of the fixing plate 11 to guide the main plate 21 of the footrest 20 in a rotatable manner and the second mounting base 12b is fixed to the fixing plate 11, So that the first and second actuators 31 and 35 of the driving unit 30 are rotatably mounted. The third mounting bracket 12c is coupled to the lower rear end of the fixing plate 11 to guide the rotation unit 46 of the connection unit 40 in a rotatable manner.

Here, the fastening plate 11 has a fastening base 13 at the center of the upper end to prevent the main plate 21 from sagging. The latch 13 protrudes to a height at which the main plate 21 is in a horizontal state and is held in close contact with the lower end (bottom). That is, the body weight of the patient who rises to the main plate 21 before operation is prevented from being transmitted to the driving unit 30 and the connection unit 40. Therefore, the loads of the driving unit 30 and the connecting unit 40 can be minimized, so various troubles can be prevented beforehand and the service life can be increased.

At this time, the fixing plate 11 further includes a handle 16 for guiding the patient to maintain the correct posture as shown in FIG. The handle 16 is bent in such a form that a column vertically standing at a predetermined height in front of the fixing plate 11 surrounds the patient's body. That is, the patient keeps the balance in the state of being on the foot part 20 during flexion, extension, adduction and abduction of the ankle joint. Of course, even when climbing on the first footstool 20, it is guided to be grasped by hand so as not to lose balance. Here, the handle 16 is not shown in a separate drawing, but may further include a band or a strap for selectively wrapping and protecting the body of the patient.

The footrest 20 according to the present invention is exposed to the upper end of the main body 10 as shown in FIG. 1, and stimulates the ankle muscles by the reflection action according to the patient's nervous system. 2 and 3, the footrest 20 includes a main plate 21 which is rotatable along the X-axis direction hinge 21a at the upper end of the fixed plate 11, And a pair of auxiliary plates 25 that rotate along the first guide plate 25a.

As shown in FIG. 6, the main plate 21 has a size corresponding to both feet of the patient, and a through hole having a shape corresponding to the auxiliary plate 25 is formed. And a hinge 23 in the Y axis direction for guiding the attachment of the supporting plate 25 to the hinge 25a is provided on the inside of the through hole. In the main plate 21, the hinge 21a in the X-axis direction located at the lower end is connected to the first mounting table 12a and rotated at a predetermined angle according to the driving unit 30 as shown in FIG. That is, the rotation of the main plate 21 induces the flexion and extension motion of the ankle joint.

Here, the main plate 21 is provided at its lower end with a holder 22 for preventing the auxiliary plate 25 from sagging. The cradle 22 performs the same function as the above-described cradle 13 and blocks the weight of the patient who has climbed on the cradle 25 from being transmitted to the driving unit 30 and the connecting unit 40. Therefore, the loads of the driving unit 30 and the connecting unit 40 can be minimized, so various troubles can be prevented beforehand and the service life can be increased.

As shown in FIG. 7, the supporting plate 25 is a steel plate for supporting the patient's feet, and has a connecting rod 28 for guiding the connection with the connecting portion 40 at the lower end. Here, the connecting rod 28 is provided at a position coinciding with the concentricity of the hinge 21a in the X-axis direction. In the auxiliary plate 25, a hinge 25a in the Y axis direction located at the inner side is connected to the hinge 23 and rotated at a predetermined angle according to the driving unit 30 as shown in FIG. That is, the rotation of the auxiliary plate 25 induces the adduction and abduction of the ankle joint.

At this time, the supporting plate 25 further has a concave / convex protrusion 26 or a soft rubber pad 27 for preventing slippage of the patient on the upper side as shown in FIG. That is, the auxiliary plate 25 is simultaneously rotated in the X-axis direction due to the bending and extension motion and in the Y-axis direction due to the adiabatic and abduction motions. In this process, if the patient's foot slips from the supporting plate 25, the ankle joint may be damaged. Therefore, it is preferable to provide the uneven protrusion 26 or the rubber pad 27 for increasing the frictional force between the foot of the patient and the supporting plate 25. [

Meanwhile, the main plate 21 and the auxiliary plate 25 according to the present invention can be operated individually or sequentially or simultaneously by the driving unit 30. That is, it is possible to selectively perform bending and extension motion by the main plate 21, and adduction and abduction motion by the assistance plate 25, or to perform bending or extension motion, or sequentially, adduction and abduction. And flexion, extension, and adduction and abduction movements can be performed simultaneously.

Also, the driving unit 30 according to the present invention is hermetically mounted to the main body 10 as shown in FIG. 1 to generate a driving force necessary for flexion and extension motion of the patient's ankle, and adduction and abduction motion. 2 and 3, the driving unit 30 includes first and second actuators 31 and 35 which are connected to the main plate 21 and the auxiliary plate 25 on the fixed plate 11 to impart rotational force thereto .

The first and second actuators 31 and 35 are composed of a cylinder to which electric or hydraulic pressure is applied from the outside and a rod which advances and retreats in the longitudinal direction in the cylinder. That is, the cylinder of the first actuator 31 is rotatably connected to the second mount 12b of the fixed plate 11, and the rod is connected to the main plate 21 together with the connection portion 40. [ The cylinder of the second actuator 35 is rotatably connected to the second mounting base 12b adjacent to the first actuator 31 and the rod is connected to the assisting plate 25 together with the connecting portion 40. [

When the rod of the first actuator 31 is retracted, the main plate 21 rotates in an inclined manner from the hinge 21a in a horizontal state as shown in Fig. When the rod of the second actuator 35 advances, the assisting plate 25 is inclinedly rotated from the hinge 25a in a horizontal state as shown in FIG. Here, the amount of rotation of the main plate 21 and the auxiliary plate 25 is proportional to the length of the front and back of the rod. That is, the degree of the stimulation can be controlled by the length of the rod in front of and back from the rod according to the joint state of the patient.

The connecting portion 40 according to the present invention is connected between the footrest portion 20 and the driving portion 30 as shown in FIG. 1 to transmit, divide, and switch the rotational force generated from the driving portion 30 to the footrest portion 20. 2 and 3, the connection unit 40 includes a drive bracket 41 connected to the first actuator 31 at the lower end of the main plate 21 to transmit a rotational force and a second actuator 40 connected to the lower end of the auxiliary plate 25, And a branching unit connected to the one end 35 to transmit rotational force at the same time.

The drive bracket 41 is formed to be inclined downward as shown in FIG. 9A, and a shaft to which the rod of the first actuator 31 is connected is coupled to one end. The driving bracket 41 transmits the driving force of the first actuator 31 to the main plate 21 and switches the rotational force to the driving force.

9B, the branching means is connected to the lower end of the supporting plate 21 so as to be freely flowable and connected to the third mounting table 12c of the fixing plate 11 at one end of the joint table 35, A guide block 47 that linearly moves from the fixed plate 11 to one end of the pivot table 46 and a second actuator 35 that is driven to rotate between the guide block 47 and the guide block 47. [ And a connecting rod 49 for transmitting a rotational force to both ends of the connecting shaft 48. [ In other words, it is possible to simultaneously drive the pair of auxiliary plates 21 with only one second actuator 35.

At this time, one end of the articulation arm 45 is connected to the connection stand 28 of the assisting plate 25. That is, the connecting rod 28 is provided at a position coinciding with the concentricity of the hinge 41a in the X-axis direction, so that the operation of the main plate 21 is not interfered with. Therefore, the main plate 21 and the auxiliary plate 25 can be operated independently, and the control is easy.

9C, a through hole 45a for guiding the connection between the connecting base 28 and the flow base 46 of the assisting plate 25 is formed, and the inner peripheral surface of the joint base 45 has a predetermined radius And a spherical joint 45c passing through the center of the housing 45b is coupled to the housing 45b. The joint bands 45 induce the up and down movements irrespective of the rotation of the connection platform 28.

That is, the articulation arm 45 performs the upward and downward motions so as to rotate the assisting plate 25 in the Y axis direction. Here, when the auxiliary plate 25 rotates, the connecting rod 28 rotates in the same direction, and the joint 45c connected thereto rotates from the housing 45b. The joint base 45 freely flows by the housing 45b and the joint 45c and transmits the driving force of the second actuator 35. [

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the invention as defined by the appended claims. It is therefore intended that such variations and modifications fall within the scope of the appended claims.

10: main body part 11: fixed plate
11a: rubber leg 12a: first mounting base
12b: second mounting base 12c: third mounting base
13: lug 15: cover
16: handle 20:
21: main plate 21a: X-axis direction hinge
22: Stands 23: Hinges
25: auxiliary plate 25a: Y-axis direction hinge
26: protrusion projection 27: rubber pad
28: connection block 30:
31: first actuator 35: second actuator
40: connection part 41: drive bracket
45: Joints 45a: Through holes
45b: Housing 45c: Joint
46: pivot 47: guide block
48: connecting shaft 49: connecting rod

Claims

An ankle rehabilitation apparatus comprising:
A main body having a fixing plate formed at a size to support at least both feet, and a cover for sealing the fixing plate;
A main plate that rotates along a hinge in the X-axis direction on an upper end of the fixing plate, and a pair of auxiliary plates that rotate along the Y-axis direction hinge in the main plate;
A driving unit having first and second actuators connected to the main plate and the auxiliary plate on the fixing plate to apply rotational force; And
A driving bracket connected to the first actuator at a lower end of the main plate to transmit a rotational force and a connecting part connected to the lower end of the assisting plate by a single one of the second actuators to transmit rotational force simultaneously Active ankle rehabilitation device.

The method according to claim 1,
Wherein the fixing plate has a slider for preventing deflection of the main plate at an upper end thereof.

The method according to claim 1,
Wherein the fixing plate further comprises a handle for guiding the patient to maintain a correct posture.

The method according to claim 1,
Wherein the main plate has a cradle for preventing sagging of the assisting plate at a lower end thereof.

The method according to claim 1,
Wherein the assisting plate further comprises a concave / convex protrusion or a soft rubber pad for preventing slippage of the patient.

The method according to claim 1,
The branching unit includes an articulating table connected to the lower end of the ancillary plate so as to be freely and freely movable, a rotary block which is rotated at a predetermined radius from the fixed plate at one end of the joint block, a guide block which linearly moves from the fixed plate to one end of the rotary block, A connecting shaft for synchronizing driving with the second actuator between the guide blocks, and a connecting rod for transmitting rotational force to both ends of the connecting shaft.

The method according to claim 6,
Wherein the joint frame has a through hole for guiding the connection between the assisting plate and the cradle at both ends thereof, a housing in which an inner circumferential surface is recessed at a predetermined radius, and a spherical joint penetrating the center in the through hole, Ankle rehabilitation apparatus.