KR20170000928A - Ankle foot orthosis for supporting passive ankle stiffness - Google Patents

Ankle foot orthosis for supporting passive ankle stiffness Download PDF

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Publication number
KR20170000928A
KR20170000928A KR1020150090152A KR20150090152A KR20170000928A KR 20170000928 A KR20170000928 A KR 20170000928A KR 1020150090152 A KR1020150090152 A KR 1020150090152A KR 20150090152 A KR20150090152 A KR 20150090152A KR 20170000928 A KR20170000928 A KR 20170000928A
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KR
South Korea
Prior art keywords
elastic body
shoe
pedestrian
ankle
wearer
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Application number
KR1020150090152A
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Korean (ko)
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KR101693750B1 (en
Inventor
김세영
손영수
박철훈
이성휘
김병인
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한국기계연구원
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Priority to KR1020150090152A priority Critical patent/KR101693750B1/en
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    • 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
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/12—Feet

Abstract

[0001] The present invention relates to a shoe-worn wearer for ankle stiffness assistance and a control method thereof, and more particularly to a shoe-worn wearer for ankle stiffness assistant, The present invention relates to a shoe-attachable wearer for an ankle stiffness assistant capable of effectively responding to various environmental conditions, and a control method thereof.

Description

{Ankle foot orthosis for supporting ankle stiffness}

The present invention relates to a method and a device for storing and releasing a force generated by deforming an angle formed by a foot and a foot during a human body movement such as walking, running, jumping, etc., To a shoe-attachable wearer for ankle stiffness assistance capable of controlling the degree to which an elastic body is deformed in response to a change made between a foot and a lower leg of a pedestrian, and a control method thereof.

Generally, a wearer that compresses an elastic member by a change of an angle formed by a lower leg formed between a knee and ankle and a backward formed between a waist and a knee when a walker makes a walk, and an elastic member pushes the lower leg using a restoring force It is widely used.

FIG. 1 shows a conventional wearing machine using the above-described technique.

1, a conventional wearing machine comprises a waist link mounted on a waist of a user, a femoral link rotatably connected to the waist link and disposed along the femur, and a pivot link rotatably connected to the femoral link A calf link disposed in accordance with the calf, a leg link rotatably connected to the calf link, a leg link mounted on the user's leg, and a support extending from the femoral link or the calf link, And one end of the pulley is connected to the waist link in front of the rotation axis of the femoral link with respect to the waist link and the other end is engaged to the pulley and the other end is connected to the leg link from the rear side of the rotation axis of the leg link to the calf link And a cord-like elastic member.

In this case, since the conventional wearer having the above-described structure stores the force generated by the angle change between the back and forth legs in the elastic member, the rotational axis of the hip link and the femoral link, And the rotation axis connecting the calf link and the leg link is not formed at the same position as the respective rotation axes connecting the joints of the pedestrian, inconvenience occurs in the walking, .

Further, in order to store the force in the elastic member, one end of the elastic member is connected to the waist link, and the waist portion is used as a fixed shaft for elastic movement of the elastic member, so that a force is applied to the waist of the wearer, It has the disadvantage that it can give.

In addition, since the force generated at the angle between the backward and the backward is stored in the elastic body, it has a disadvantage that the wearer can be used only in an environment having a certain inclination.

In order to solve the problems of the wearer as described above, the wearer is not inconvenienced during daily life in a state in which the wearer wears the walking aid designed to erect the ergonomic design to assist the walking of the pedestrian, There is a need for a wearer that can control the degree of deformation of the elastic body in accordance with the elasticity of the elastic body and efficiently utilize the elastic movement of the elastic body.

Japanese Laid-Open Patent Application No. 2012-100983

SUMMARY OF THE INVENTION The present invention has been conceived to solve the above-mentioned problems, and it is an object of the present invention to assist the movement of the human body by recycling the rotational force of the lower limb generated during human body movement such as walking, running, It is designed so as to minimize the inconvenience of general movement even when wearing the wearer.

In addition, the angle at which the elastic body is deformed according to the surrounding environment can be controlled, so that the conventional wearer is designed to fit on a flat road, thereby solving the inconvenience that it is difficult to use on a sloping road.

In order to accomplish the above object, the present invention provides a shoe-attachable wearer for ankle stiffness assistance comprising: a first engaging part (100) fixed to an outer surface of a shoe (10) of a pedestrian; A second engaging part 200 surrounding the lower part of the pedestrian and having one longitudinal side rotatably coupled to the first engaging part 100 and the other longitudinal side fixed to the lower side of the pedestrian; And an elastic body (300) connected to the first engaging part (100) and the second engaging part at both ends and storing a force generated at an angle change between the foot of the pedestrian and the lower leg; And a rigidity control device (400) for controlling the degree to which the elastic body (300) is deformed in response to a change in foot and lower leg of a pedestrian.

The first coupling portion 100 connects the pair of side frames 110 which are in close contact with the left and right side surfaces of the footwear 10 of the pedestrian and the longitudinal side ends of the pair of side frames 110, A front frame 120 whose upper surface is in close contact with a bottom surface of the toe of the shoe 10 and a pair of side frames 110 which are connected to each other in the longitudinal direction, And a rear frame 130 on which a first elastic body fixing part 132 is formed on an outer side of the first elastic body fixing part 132, A pair of rotation frames 210 rotatably coupled to upper ends of the side frames 110 in the direction of motion of the ankles and the other side of which is fixed to the lower ends of the pedestrians, A second elastic body protruding from the rear side, Comprises a unit 220, is the elastic body (300) characterized in that the side end portions that are respectively coupled to the first elastic body fixing part 132 and the second elastic body fixing part (220).

The shoe-combined wearer for supporting the ankle stiffness is connected to the first rear frame 130 by a rotary member 133 so that the first elastic body fixing part 132 can move up and down.

The rigidity control device 400 is connected to the front end of the first elastic body fixing part 132 facing the first rear frame 130 by a connecting member and controls the length of the connecting member .

The second coupling portion 200 is characterized in that a ring-shaped fixing band 230 connecting the rotation frames 210 is formed on the other side in the longitudinal direction so as to correspond to the displacement of the pedestrian.

According to another aspect of the present invention, there is provided a method of controlling an ankle stiffening assistant for a foot, comprising the steps of: applying a force generated by a change in angle between a foot and a lower leg of a pedestrian during a walk, And an energy transferring step (10S) to be transmitted to the elastic body (300) through the second coupling part (200); An energy storage step (20S) in which the elastic body (300) is compressed or tensioned by a force transmitted from the first coupling part (100) and the second coupling part (200); An energy release step (30S) in which the elastic body (300) compressed is restored to a shape before being compressed by elastic force to thereby transmit a driving force to the pedestrian; And a stiffness controlling step (40S) for controlling the length of the connecting member by controlling the stiffness controlling device (400).

The shoe-bonded wearer for ankle stiffening assistance and the control method thereof according to the present invention having the above-described structure are characterized in that, in general, the rotational force of the lower limb generated during human body movement such as walking, running, jumping, , Minimizing the forces on the ankle tendons and ligaments necessary for movement.

Further, since the pedestrian is moving, the angle at which the elastic body is deformed when the angle of the lower leg and the foot is deformed can be controlled, and the conventional wearer is designed to be suitable for a flat road, Lt; / RTI >

In addition, since the first coupling portion is constructed so as to be able to be coupled to a shoe that lives in a state in which a wearer wears a wearer's ankle, the motion of the wearer can be minimized, It has an advantage of minimizing the adaptation period for using the wearer.

1 is a conceptual view showing a conventional wearing machine.
Figure 2 is a side cross-sectional view of a shoe-bonded wearer for ankle stiffness assistance.
Figure 3 is a perspective view of a shoe-bonded wearer for ankle stiffness assistance (front and side)
Figure 4 is a perspective view of a shoe-bonded wearer for ankle stiffness assistance. (Side and back)
5 is a perspective view showing a rigidity control device of a shoe-attachable wearer for ankle stiffness assistance.
6 is a conceptual view showing a rigidity control device of a shoe-attachable wearer for ankle stiffness assisting (when removing an elastic body)
7 is a flowchart showing a control method of a shoe-attachable wearer for ankle stiffness assistance.

Hereinafter, the shoe-attachable wearer for ankle stiffness assistance as described above will be described.

2, the shoe-attachable wearer for ankle stiffness assistance according to the present invention comprises a first joint part 100 fixed to an outer surface of a shoe 10 of a pedestrian, a first joint part 100 surrounding the lower part of the pedestrian, A second engaging portion 200 rotatably coupled to the first engaging portion 100 and having the other longitudinal side fixed to the upper side of the lower leg of the pedestrian, And a rigidity control device (not shown) for controlling the degree of deformation of the elastic body 300 in response to a change in the foot and the back of the pedestrian, the elastic body being connected to the pedestrian's foot, 400).

In detail, the first engaging part 100 is coupled to the shoe 10 protecting the foot of the pedestrian, and the second engaging part 200 is coupled to the lower part formed between the knee and the ankle of the pedestrian, The elastic force of the elastic member 300 is transmitted to the elastic member 300 corresponding to the angle formed by the foot of the pedestrian and the back of the pedestrian, ) Is deformed.

Hereinafter, the shoe-attachable wearer for ankle stiffness assistance according to the present invention will be described in detail.

2 and 3, the first coupling portion 100 includes a pair of side frames 110 which are closely attached to the left and right sides of the shoe 10 of the pedestrian, a pair of side frames 110 A front frame 120 whose upper surface is in close contact with a bottom surface of the toe of the shoe 10 and a pair of longitudinal side ends of the pair of side frames 120, And a rear frame 130 on which an engaging member 131 is inserted and inserted into the shoe 10 and a first elastic body fixing part 132 is formed on the outer side.

2 and 4, a groove is formed in the rear heel of the shoe 10 supporting the heel of the pedestrian so that the engaging member 131 is engaged with the upper surface of the front frame 110, The first coupling portion 100 is fixed to the shoe 10 by being tightly coupled to the bottom surface of the toe of the shoe 10. That is, the first engaging portion 100 is fitted to the rear heel of the shoe 10 by the engaging member 131 to prevent the displacement of the shoe 10 due to the vertical movement of the shoe 10, The joint member 131 can be prevented from escaping from the groove formed in the heel of the shoe 10 even if the front and rear movements of the shoe 10 occur by the front frame 120 tightly coupled to the shoe 10.

In other words, it is possible to fix the first engaging portion 100 to the shoe 10, which is generally used, by a simple method of forming a groove into which the engaging member 131 is fitted in the heel of the shoe 10, The front frame 120 has an advantage that it minimizes breakage of the shoe 10 and simplifies the joining structure. In the case of the front frame 120, the toe of the shoe 10, which is formed to be bent upward from the rear side of the shoe 10 toward the front side, So that the pedestrian does not feel inconvenience when walking.

In addition, although not shown in the drawing, the first coupling portion 100 has bolts for pressing the left and right sides of the shoe 10 at one longitudinal end portion of the pair of side frames 110, And can be engaged with the shoe 10 through a structure that is screwed into a groove formed on both left and right sides of the shoe 10.

The second engaging part 200 is coupled to the upper end of the side frame 110 in the longitudinal direction so as to be rotatable in the direction of motion of the ankle, and the other end of the second engaging part 200 is fixed to the lower part of the pedestrian. And a second elastomeric fixing part 220 protruded rearward from each of the rotation frames 210 and connected to each other at the ends thereof.

That is, the first engaging portion 100 is coupled to the shoe 10 to correspond to the foot movement of the pedestrian, and the second engaging portion 200 is coupled to the left and right sides of the lower portion of the pedestrian, The angle formed by the first engaging part 100 and the second engaging part 200 is deformed corresponding to the angle between the foot 10 of the walker and the lower part.

In this case, the side frame 110 and the rotary frame 210 are hinged to each other so that the side frame 110 and the rotary frame 210 correspond to the up and down movements of the ankle. And a structure for increasing the degree of freedom of ankle motion of a pedestrian by connecting joints, so that it is not limited, and in the case of the rotary frame 210, a ring connecting the rotary frames 210, Shaped fixing bands 230 may be formed on the other side in the longitudinal direction.

The shoe-bonded wearer for ankle stiffness assistance according to the present invention is characterized in that both sides of the elastic body 300 are coupled to the first elastic body fixing part 132 and the second elastic body fixing part 220, The shape of the elastic member 300 is changed in accordance with the change of the angle formed by the lower portion. The angle formed by the foot where the elastic member 300 is changed and the lower portion is controlled by the rigidity control device 400.

Referring to FIGS. 2 and 5, the first elastic body fixing part 132 is connected to the rear frame 130 by a rotary member 133 so as to be vertically movable. At this time, the first elastic body fixing portion 132 is rotated by a force generated at an angle change formed by the first and second coupling portions 100 and 200. At this time, the first elastic body fixing portion 132 And the position where the force is stored in the elastic body 300 is controlled by the stiffness control device 400.

In detail, the rigidity control device 400 is connected to the front end of the first elastic body fixing part 132 facing the first rear frame 130 by a connecting member, and the length of the connecting member And a lever 410 for controlling the connecting member. The connecting member may be made of various materials, but may be selected from any one of a string, a bowden cable, a smart material, and an elastic body Recommended.

1 and 6, when walking on a sloping uphill with the shoe-attachable wearer for ankle stiffening assistance according to the present invention being worn, the length of the connecting member is increased by using the lever 410 The inclination angles of the legs and feet where the force is stored in the elastic body 300 are narrower than the case where the ground is flat and the length of the connecting member is narrowed by using the lever 410 when walking on a sloping downhill road, The angle of inclination of the ankles and lower legs where the force is stored is wider than when the ground is flat, thus improving the ease of walking.

Although the lever 410 is positioned on the rear side of the rigidity control device 400 in the drawing, the position of the lever 410 is not limited to the position of the wearer of the shoe- The length of the connecting member can be controlled by adjusting the length of the connecting member in accordance with the length of the connecting member. In addition to a method in which the pedestrian directly controls the lever 410, A method of controlling the length of the connecting member by interlocking with the wired / wireless control device and the stiffness control device 400 that can be manually operated by a pedestrian can be used.

7, a force generated by a change in angle between a foot of a pedestrian and a lower part of the pedestrian at the time of walking is transmitted to the first coupling part 100, And an energy transmitting step (10S) for transmitting the energy transmitted to the elastic body (300) through the second coupling part (20) An energy storing step 20S in which the elastic body 300 is compressed or tensioned, an energy releasing step 30S in which the elasticity of the compressed elastic body 300 is restored to a shape before being compressed by the elastic force, And a stiffness control step (40S) for controlling the rigidity control device (400) to control the length of the linking member.

That is, the combining step S10, the energy storing step S20, and the energy releasing step S30 are repeated to assist the movement of the pedestrian corresponding to the motion of the pedestrian, and in the stiffness controlling step S40 By controlling the length of the connecting member in response to the surrounding environment of the pedestrian, the pedestrian can walk comfortably.

The technical idea should not be interpreted as being limited to the above-described embodiment of the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Accordingly, such modifications and changes are within the scope of protection of the present invention as long as it is obvious to those skilled in the art.

10: Shoes
100: first coupling portion 110: side frame
120: front frame
130: rear frame
131: coupling member 132: first elastic member fixing portion
133: Rotating member
200: second coupling portion 210: rotating frame
220: second elastic member fixing portion
230: Fixed band
300: elastic body
400: Rigidity control device 410: Lever

Claims (6)

A first engaging portion (100) fixed to the outer surface of the shoe (10) of the pedestrian;
A second engaging part 200 surrounding the lower part of the pedestrian and having one longitudinal side rotatably coupled to the first engaging part 100 and the other longitudinal side fixed to the lower side of the pedestrian; And
An elastic body 300 connected to both the first coupling portion 100 and the second coupling portion at both ends and storing a force generated at an angle change between the foot of the pedestrian and the lower leg; And
And a rigidity control device (400) for controlling the degree to which the elastic body (300) is deformed in response to a change of a foot and a lower leg of a pedestrian.
The method according to claim 1,
The first coupling portion 100 includes a pair of side frames 110, which are in close contact with the left and right sides of the shoe 10 of the pedestrian,
A front frame 120 which connects ends of one side of the pair of side frames 110 in the longitudinal direction with each other and whose upper surface is in close contact with a lower surface of the toe of the shoe 10,
A joining member 131 which is inserted into the shoe 10 is protruded and formed on the inner side of the shoe 10 facing the rear surface of the shoe 10 and the other side end portions of the pair of side frames 110 in the longitudinal direction are connected to each other, And a rear frame (130) on which one elastic body fixing part (132) is formed,
The second engaging part 200 is rotatably coupled to the upper end of the side frame 110 at one side in the longitudinal direction and rotatably in a direction of motion of the ankle, 210,
And a second elastic fixing part (220) protruded rearward from each of the rotation frames (210) and connected to each other at their ends,
Characterized in that both ends of the elastic body (300) are coupled to the first elastic body fixing part (132) and the second elastic body fixing part (220), respectively.

3. The shoe-bonded wearer for ankle stiffening assistance according to claim 2,
Wherein the first elastic body fixing part (132) is connected to the first rear frame (130) by a rotary member (133) so as to be movable up and down.
4. The apparatus according to claim 3, wherein the rigidity control device (400)
Wherein the first elastic body fixing part (132) is connected to the front end of the first elastic body fixing part (132) facing the first rear frame (130) by a connecting member, and controls the length of the connecting member Combined wearer.
The connector according to any one of claims 1 to 4, wherein the second coupling portion (200)
Characterized in that a ring-shaped fixing band (230) connecting the respective rotation frames (210) is formed on the other side in the longitudinal direction so as to correspond to the displacement of the pedestrian's lower leg.
A control method for a shoe-attachable wearer for ankle stiffness assistance according to claim 4,
An energy transfer step 10S in which a force generated by a change in the angle between the foot and the lower part of the pedestrian when walking is transmitted to the elastic body 300 through the first engagement part 100 and the second engagement part 200, ;
An energy storage step (20S) in which the elastic body (300) is compressed or tensioned by a force transmitted from the first coupling part (100) and the second coupling part (200);
An energy release step (30S) in which the elastic body (300) compressed is restored to a shape before being compressed by elastic force to thereby transmit a driving force to the pedestrian; And
And a stiffness control step (40S) for controlling the rigidity control device (400) to control the length of the linking member (40S).



KR1020150090152A 2015-06-25 2015-06-25 Ankle foot orthosis for supporting passive ankle stiffness KR101693750B1 (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20180091165A (en) 2017-02-06 2018-08-16 박지훈 Ankle Rehabilitation Device
KR20190085221A (en) * 2018-01-10 2019-07-18 최호선 Ankle Orthosis
KR20210053673A (en) * 2019-11-04 2021-05-12 연세대학교 원주산학협력단 Walk assistance apparatus by rising tip of feet

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KR102407461B1 (en) 2020-06-04 2022-06-14 한국기계연구원 Muscle clutch
KR102404544B1 (en) 2020-07-06 2022-06-07 한국기계연구원 Propulsion booster
KR102581603B1 (en) 2021-11-10 2023-09-22 중앙대학교 산학협력단 Ankle joint vatiable pressure shoes and pressure control method of shoes

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KR101425124B1 (en) * 2013-02-04 2014-08-05 (주)트리플씨메디칼 Gait assistance device including energy storage unit by ratchet
KR101430867B1 (en) * 2013-04-16 2014-08-18 주식회사 싸이버메딕 walking exercising apparatus of hemiplegic subject

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KR101187018B1 (en) * 2010-11-04 2012-09-28 (주)트리플씨메디칼 Energy storage-emission type of ankle joint and foot in gait assistance device
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Publication number Priority date Publication date Assignee Title
KR20180091165A (en) 2017-02-06 2018-08-16 박지훈 Ankle Rehabilitation Device
KR20190085221A (en) * 2018-01-10 2019-07-18 최호선 Ankle Orthosis
KR20210053673A (en) * 2019-11-04 2021-05-12 연세대학교 원주산학협력단 Walk assistance apparatus by rising tip of feet

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