CN103961240A - Ankle foot rehabilitation training device and balance training system - Google Patents
Ankle foot rehabilitation training device and balance training system Download PDFInfo
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- CN103961240A CN103961240A CN201410206148.0A CN201410206148A CN103961240A CN 103961240 A CN103961240 A CN 103961240A CN 201410206148 A CN201410206148 A CN 201410206148A CN 103961240 A CN103961240 A CN 103961240A
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Abstract
The invention provides an ankle foot rehabilitation training device and a balance training system. The lower end of a front supporting plate of the ankle foot rehabilitation training device is fixed to a base plate, a front foot sole pedal is hinged to the upper end of the front supporting plate, the front foot sole pedal is hinged to a rear foot sole pedal through a second pin shaft, first-second pin holes are formed in the bottom of the rear foot sole pedal, first-second pins are arranged in the first-second pin holes respectively, a first spherical hinge is respectively connected with a first pin and a third pin, a second spherical hinge is respectively connected with a second pin and a fourth pin, the third pin is connected with a first servo electric cylinder unit, the fourth pin is connected with a second servo electric cylinder unit, the first servo electric cylinder unit is connected with the base plate through a third spherical hinge, and the second servo electric cylinder unit is connected with the base plate through a fourth spherical hinge. The ankle foot rehabilitation training device can perform rehabilitation training on ankle joints and foot metatarsophalangeal joints of a patient respectively, the balance training system can change the position of the gravity center of the patient through the ankle foot rehabilitation training device, and therefore balance training is performed.
Description
Technical field
What the present invention relates to is a kind of medical apparatus and instruments, specifically device for healing and training.
Background technology
Increasing along with the patient of ankle foot damage, recover this class crowd's viability and rehabilitation training become in the urgent need to.Therefore, design that a can to carry out the balance training system of ankle foot healing training and balance training to ankle foot damage patient significant.
Patents is a lot of both at home and abroad at present, and function is also similar.Ankle joint rehabilitation training device (patent No. 201210505294.4), has proposed a kind of ankle joint rehabilitation training device with two degree of freedom.This device can only to ankle joint carry on the back plantar flexion training and subtalar joint in the training of turning up, can not carry out the rehabilitation training of foot metatarsophalangeal joints, and also more complicated of whole system frame for movement, use and maintenance is inconvenience also; Ankle bends and stretches recovery training appliance for recovery (patent No. 201310149255.X), a kind of embodiment that provides ankle to bend and stretch recovery training appliance for recovery has been proposed, but owing to only having a metatarsal mobility, comprehensive not to the exercise of ankle joint, be unfavorable for making faster Rehabilitation.
Summary of the invention
The object of the present invention is to provide ankle foot healing training devices and the balance training system to patient's ankle joint and the rehabilitation training of foot metatarsophalangeal joints respectively.
The object of the present invention is achieved like this:
Ankle foot healing training devices of the present invention, it is characterized in that: comprise base plate, front end panel, forefoot pedal, hind paw pedal, the the first-the second servo-electric cylinder unit, front end panel lower end is fixed on base plate, forefoot pedal can relatively rotate with respect to the first bearing pin axis between forefoot pedal and front end panel by hinged the making in upper end of the first bearing pin and front end panel, forefoot pedal and hind paw pedal are hinged by the second bearing pin, hind paw pedal bottom arranges the first-the second pin-and-hole, the the first-the second pin is installed respectively in the first-the second pin-and-hole, the first ball pivot connects respectively the first pin and the 3rd pin, the second ball pivot connects respectively the second pin and the 4th pin, the 3rd pin connects the first servo-electric cylinder unit, the 4th pin connects the second servo-electric cylinder unit, the first servo-electric cylinder unit is connected with base plate by the 3rd ball pivot, the second servo-electric cylinder unit is connected with base plate by the 4th ball pivot.
Ankle foot healing training devices of the present invention can also comprise:
1, front bandage is installed on forefoot pedal, bandage after installing on hind paw pedal.
Balance training system of the present invention, it is characterized in that: comprise ankle foot healing training devices, base, described ankle foot healing training devices comprises the first ankle foot healing training devices, the second ankle foot healing training devices, the first ankle foot healing training devices comprises base plate, front end panel, forefoot pedal, hind paw pedal, the the first-the second servo-electric cylinder unit, front end panel lower end is fixed on base plate, forefoot pedal can relatively rotate with respect to the first bearing pin axis between forefoot pedal and front end panel by hinged the making in upper end of the first bearing pin and front end panel, forefoot pedal and hind paw pedal are hinged by the second bearing pin, hind paw pedal bottom arranges the first-the second pin-and-hole, the the first-the second pin is installed respectively in the first-the second pin-and-hole, the first ball pivot connects respectively the first pin and the 3rd pin, the second ball pivot connects respectively the second pin and the 4th pin, the 3rd pin connects the first servo-electric cylinder unit, the 4th pin connects the second servo-electric cylinder unit, the first servo-electric cylinder unit is connected with base plate by the 3rd ball pivot, the second servo-electric cylinder unit is connected with base plate by the 4th ball pivot, the first ankle foot healing training devices is identical with the second ankle foot healing training devices structure, the surrounding of base arranges handrail, and the first ankle foot healing training devices, the second ankle foot healing training devices are arranged on base.
Balance training system of the present invention can also comprise:
1, also comprise sleeve, adjustable seat, handwheel, sleeve is fixed on base, and adjustable seat is connected with regulating shaft, and regulating shaft is arranged in sleeve, handwheel is arranged on sleeve and with regulating shaft and is connected, and adjustable seat is adjusted the relative distance of adjustable seat and sleeve by the adjusting of handwheel.
2, on regulating shaft, cover has damping spring, and adjustable seat is connected with regulating shaft by damping spring, between adjacent handrail, arm-rest frame is installed.
Advantage of the present invention is: ankle foot healing training devices overall structure is simple, is easy to safeguard.Rehabilitation training to patient's ankle joint and foot metatarsophalangeal joints respectively, takes exercise comprehensively, is conducive to make faster Rehabilitation.Balance training system changes patient's position of centre of gravity by ankle foot healing training devices, carries out balance training.Damping spring can, so that seat is followed patient's gravity center shift, make exercise process more comfortable.
Accompanying drawing explanation
Fig. 1 is ankle foot healing training devices's of the present invention structural representation one;
Fig. 2 is ankle foot healing training devices's of the present invention structural representation two;
Fig. 3 is the structural representation of balance training system of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing, for example the present invention is described in more detail:
In conjunction with Fig. 1～3, ankle foot healing training devices 100 mainly, hind paw pedal 6 foot-operated 4 by base plate 1, front end panel 2, forefoot, the first servo-electric cylinder unit 11, the second servo-electric cylinder unit 12 forms.
In the present embodiment, base plate 1 front end bottom is reserved with bolt counter sink, and bolt is connected with front end panel 2 by bottom bolts counter sink.Front end panel is fixed on above base.
In the present embodiment, forefoot pedal 4 is hinged by bearing pin 3 and front end panel 2.Described forefoot pedal 4 can be rotated with respect to bearing pin 3 axis.
Forefoot pedal 4 and hind paw pedal 6 are hinged by bearing pin 7.Make can mutually rotate between described two pedals.Reserved good pin-and-hole on hind paw pedal.By pin, one end of ball pivot 9 and ball pivot 10 is connected with hind paw pedal.
One end of ball pivot 9 and ball pivot 10 is connected with the second servo-electric cylinder unit 12 with the first servo-electric cylinder unit 11 by pin.Electric cylinder one end can be rotated arbitrarily with respect to hind paw pedal 6 like this.The first servo-electric cylinder unit 11 and the second servo-electric cylinder unit adopt pin type electric cylinder, and the other end is connected with ball pivot 14 with ball pivot 13.
Ball pivot 13 is also connected by pin with base plate with ball pivot 14.Electric cylinder also can be rotated arbitrarily with respect to base plate.
When the inside-out that patient carries out ankle joint turns over rehabilitation training, patient's foot is fixed to forefoot pedal and hind paw pedal by bandage 5 and bandage 8.By the first servo-electric cylinder unit 11 and the proportional shortening of the second servo-electric cylinder unit 12 with stretch out, before and after driving, sole pedal rotates with respect to bearing pin 3 axis, and the inside-out of realizing ankle joint turns over training.
When patient carries out the dorsiflex of metatarsophalangeal joints and plantar flexion rehabilitation training, patient's foot is fixed to forefoot pedal and hind paw pedal by bandage 5 and bandage 8.By the shortening simultaneously of the first servo-electric cylinder unit 11 and the second servo-electric cylinder unit 12 with stretch out, drive hind paw pedal to rotate with respect to bearing pin 7 axis, realize dorsiflex and the plantar flexion training of metatarsophalangeal joints.
Ankle foot healing training devices 100 overall structures are simple, are easy to safeguard.Rehabilitation training to patient's ankle joint and foot metatarsophalangeal joints respectively, takes exercise comprehensively, is conducive to make faster Rehabilitation.
Described balance training system comprises two ankle foot healing training devicess 100, base 101, arm-rest frame 103, adjustable seat 104.
In the present embodiment, two ankle foot healing training devicess 100 are positioned in the reserved groove of base 101 according to human body correct position.Its position also can be according to its position of patient's different adjustment.
For the ease of patient, help, described arm-rest frame 103 is preferably disposed on the height of patient's loins, and can regulate height for different patients.
In the present embodiment, the initial stage during balance training, is provided with adjustable seat 104.When described adjustable seat 104 is preferably stood according to patient, buttocks position.During its altitude mixture control, first loosen handwheel 102, then according to patient's different adjustment, settle, last locked handwheel.In the training later stage, can remove seat according to patient's practical situation.Patient only grasps balance by arm-rest frame and self-regulation.
Be understandable that, adjustable seat 104, is provided with damping spring 105, so as to reducing the sense of discomfort that brings patient.
Balance training system changes patient's position of centre of gravity by ankle foot healing training devices 100, carries out balance training.Damping spring 105 can, so that seat is followed patient's gravity center shift, make exercise process more comfortable.
Ankle joint rehabilitation training device 100, in the time of by described the first servo-electric cylinder unit 11 and the second servo-electric cylinder unit 12, extend and shorten, described forefoot pedal 4 and hind paw pedal 6 with respect to the rotation that is connected bearing pin axis, realize patient's metatarsophalangeal joints and realize dorsiflex training.
Ankle joint rehabilitation training device 100, by an elongation of described the first servo-electric cylinder unit 11 and the second servo-electric cylinder unit 12, one is shortened proportional motion, described forefoot pedal 4 and hind paw pedal 6 integral body are with respect to the left-right rotation of the horizontal axis of base plate, realize patient's ankle joint turn up and in turn over training.
The invention provides a kind of balance training system, help ankle foot damage patient to recover the balanced capacity of walking.
Balance training system comprises two ankle foot healing training devicess 100, and balance training system comprises base 101, and described two ankle foot healing training devicess 100 are arranged at described base accordingly with patient's left and right foot.
Described balance training system comprises the arm-rest frame 103 of helping for patient, and described arm-rest frame 103 is arranged on described base 101.
Described balance training system comprises that described seat 104 is arranged on described base 101 for the adjustable seat 104 of patient's supplemental support.
Described balance training system, when patient carries out balance training, by changing patient's center of gravity, carries out balance training to patient.
The present invention proposes a kind of ankle foot healing training devices 100, it comprises base plate 1, front foot pedal 4, rear pedal 6, front end panel 2, the first servo electric jar 11, the second servo electric jar 12; Described front foot pedal 4 rear ends and rear pedal 6 are hinged, and front end and front end panel 2 are hinged, and two hinge axis are mutually vertical; Described rear pedal 6 is connected by ball pivot with the first servo electric jar 11, second servo electric jar 12 one end; The other end of described the first servo electric jar 11, the second servo electric jar 12 is connected by ball pivot with base plate 1.Two electric cylinders are laid at an angle.
When described ankle foot healing training devices carries out ankle foot healing training, in the time of by described two servo electric jars, extend and shorten, making relatively rotating of described forward and backward pedal, realizing the dorsiflex training of metatarsophalangeal joints.
By elongation of described two servo electric jars, one is shortened proportional motion, makes described forward and backward pedal with respect to the horizontal axis flip-flop movement of base plate, realize ankle joint in turn over and the training of turning up.
A kind of balance training system of the present invention, comprises two ankle foot healing training devicess 100, base 101, arm-rest frame 103, adjustable seat 104;
Each ankle foot healing training devices includes base plate 1, front foot pedal 4, rear pedal 6, front end panel 2, the first servo electric jar 11, the second servo electric jar 12; Described front foot pedal 4 rear ends and rear pedal 6 are hinged, and front end and front end panel 2 are hinged, and two hinge axis are mutually vertical; Described rear pedal 6 is connected by ball pivot 9,10 with the first servo electric jar 11, second servo electric jar 12 one end; The other end of described the first servo electric jar 11, the second servo electric jar 12 is connected by ball pivot 13,14 with base plate 1; Described two ankle foot healing training devicess 100 are arranged on the base 101 of described balance training system according to normal gait biped pitch arrangement.
Balance training system comprises the arm-rest frame 103 of helping for patient, and described arm-rest frame 103 is arranged on described base 101.
Balance training system comprises that described seat 104 is arranged on described base 101 for the adjustable seat 104 of patient's supplemental support.
Adjustable seat 104 comprises damping spring 105.
Claims (5)
1. ankle foot healing training devices, it is characterized in that: comprise base plate, front end panel, forefoot pedal, hind paw pedal, the the first-the second servo-electric cylinder unit, front end panel lower end is fixed on base plate, forefoot pedal can relatively rotate with respect to the first bearing pin axis between forefoot pedal and front end panel by hinged the making in upper end of the first bearing pin and front end panel, forefoot pedal and hind paw pedal are hinged by the second bearing pin, hind paw pedal bottom arranges the first-the second pin-and-hole, the the first-the second pin is installed respectively in the first-the second pin-and-hole, the first ball pivot connects respectively the first pin and the 3rd pin, the second ball pivot connects respectively the second pin and the 4th pin, the 3rd pin connects the first servo-electric cylinder unit, the 4th pin connects the second servo-electric cylinder unit, the first servo-electric cylinder unit is connected with base plate by the 3rd ball pivot, the second servo-electric cylinder unit is connected with base plate by the 4th ball pivot.
2. ankle foot healing training devices according to claim 1, is characterized in that: bandage before installing on forefoot pedal, bandage after installing on hind paw pedal.
3. balance training system, it is characterized in that: comprise ankle foot healing training devices, base, described ankle foot healing training devices comprises the first ankle foot healing training devices, the second ankle foot healing training devices, the first ankle foot healing training devices comprises base plate, front end panel, forefoot pedal, hind paw pedal, the the first-the second servo-electric cylinder unit, front end panel lower end is fixed on base plate, forefoot pedal can relatively rotate with respect to the first bearing pin axis between forefoot pedal and front end panel by hinged the making in upper end of the first bearing pin and front end panel, forefoot pedal and hind paw pedal are hinged by the second bearing pin, hind paw pedal bottom arranges the first-the second pin-and-hole, the the first-the second pin is installed respectively in the first-the second pin-and-hole, the first ball pivot connects respectively the first pin and the 3rd pin, the second ball pivot connects respectively the second pin and the 4th pin, the 3rd pin connects the first servo-electric cylinder unit, the 4th pin connects the second servo-electric cylinder unit, the first servo-electric cylinder unit is connected with base plate by the 3rd ball pivot, the second servo-electric cylinder unit is connected with base plate by the 4th ball pivot, the first ankle foot healing training devices is identical with the second ankle foot healing training devices structure, the surrounding of base arranges handrail, and the first ankle foot healing training devices, the second ankle foot healing training devices are arranged on base.
4. balance training system according to claim 3, it is characterized in that: also comprise sleeve, adjustable seat, handwheel, sleeve is fixed on base, adjustable seat is connected with regulating shaft, regulating shaft is arranged in sleeve, handwheel is arranged on sleeve and with regulating shaft and is connected, and adjustable seat is adjusted the relative distance of adjustable seat and sleeve by the adjusting of handwheel.
5. balance training system according to claim 4, is characterized in that: on regulating shaft, cover has damping spring, and adjustable seat is connected with regulating shaft by damping spring, between adjacent handrail, arm-rest frame is installed.
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| CN201410206148.0A CN103961240B (en) | 2014-05-16 | 2014-05-16 | Ankle foot healing training devices and balance training system |
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| CN201410206148.0A CN103961240B (en) | 2014-05-16 | 2014-05-16 | Ankle foot healing training devices and balance training system |
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| CN103961240A true CN103961240A (en) | 2014-08-06 |
| CN103961240B CN103961240B (en) | 2016-09-14 |
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| WO2016032413A1 (en) * | 2014-08-28 | 2016-03-03 | Kose Kemal Cem | A locomotion therapy and rehabilitation device |
| CN106377390A (en) * | 2016-11-22 | 2017-02-08 | 哈尔滨理工大学 | Link-type foot rehabilitation mechanism |
| CN107233191A (en) * | 2017-07-10 | 2017-10-10 | 广西浙缘农业科技有限公司 | A kind of naked rehabilitation training device of auxiliary foot |
| CN107583242A (en) * | 2016-07-06 | 2018-01-16 | 河北对外经贸职业学院 | A kind of manufacture and use method of ankle-joint flexion and extension trainer |
| CN108606908A (en) * | 2018-05-11 | 2018-10-02 | 苏州三体智能科技有限公司 | Mobility aids of lower limb recovery and its rehabilitation walk help method |
| CN108720981A (en) * | 2018-07-04 | 2018-11-02 | 李勇强 | Dynamic and static single ankle traction system |
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| CN110840707A (en) * | 2019-12-13 | 2020-02-28 | 福州大学 | Ankle joint rehabilitation robot structure and using method thereof |
| CN111773633A (en) * | 2020-05-26 | 2020-10-16 | 浙江中医药大学附属第三医院 | Appearance is tempered to sitting posture ankle joint |
| CN111870480A (en) * | 2020-08-03 | 2020-11-03 | 山东中科先进技术研究院有限公司 | Pedal type metatarsophalangeal joint rehabilitation device |
| CN111973401A (en) * | 2020-09-03 | 2020-11-24 | 温州市中西医结合医院 | Ankle joint wound rehabilitation device |
| CN112022648A (en) * | 2020-09-02 | 2020-12-04 | 华侨大学 | Rehabilitation training device for massaging toes by stretching front ends |
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| CN113082615A (en) * | 2021-05-17 | 2021-07-09 | 潘佳佳 | Neurosurgery ankle rehabilitation training method |
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| CN114177567A (en) * | 2021-12-20 | 2022-03-15 | 北京石油化工学院 | Ankle joint rehabilitation training device |
| CN114432654A (en) * | 2022-02-17 | 2022-05-06 | 东华大学 | Ankle joint dynamic balance training device and training method |
| CN114515416A (en) * | 2022-03-30 | 2022-05-20 | 重庆市中医院 | Ankle rehabilitation training device |
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| WO2016032413A1 (en) * | 2014-08-28 | 2016-03-03 | Kose Kemal Cem | A locomotion therapy and rehabilitation device |
| US10596058B2 (en) | 2014-08-28 | 2020-03-24 | Kemal Cem KOSE | Locomotion therapy and rehabilitation device |
| CN107583242A (en) * | 2016-07-06 | 2018-01-16 | 河北对外经贸职业学院 | A kind of manufacture and use method of ankle-joint flexion and extension trainer |
| CN106377390A (en) * | 2016-11-22 | 2017-02-08 | 哈尔滨理工大学 | Link-type foot rehabilitation mechanism |
| CN107233191A (en) * | 2017-07-10 | 2017-10-10 | 广西浙缘农业科技有限公司 | A kind of naked rehabilitation training device of auxiliary foot |
| WO2019026022A1 (en) * | 2017-08-03 | 2019-02-07 | Kherde Atul Madhusudan | A device for passive exercising of a human leg |
| CN108606908A (en) * | 2018-05-11 | 2018-10-02 | 苏州三体智能科技有限公司 | Mobility aids of lower limb recovery and its rehabilitation walk help method |
| CN108720981A (en) * | 2018-07-04 | 2018-11-02 | 李勇强 | Dynamic and static single ankle traction system |
| CN108744432A (en) * | 2018-08-21 | 2018-11-06 | 常州市钱璟康复股份有限公司 | A kind of tumble assessment and training device |
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| CN110840707A (en) * | 2019-12-13 | 2020-02-28 | 福州大学 | Ankle joint rehabilitation robot structure and using method thereof |
| CN111773633A (en) * | 2020-05-26 | 2020-10-16 | 浙江中医药大学附属第三医院 | Appearance is tempered to sitting posture ankle joint |
| CN111870480A (en) * | 2020-08-03 | 2020-11-03 | 山东中科先进技术研究院有限公司 | Pedal type metatarsophalangeal joint rehabilitation device |
| CN112022648A (en) * | 2020-09-02 | 2020-12-04 | 华侨大学 | Rehabilitation training device for massaging toes by stretching front ends |
| CN112022648B (en) * | 2020-09-02 | 2024-05-17 | 华侨大学 | Rehabilitation training device for massaging toes through front end stretching |
| CN111973401A (en) * | 2020-09-03 | 2020-11-24 | 温州市中西医结合医院 | Ankle joint wound rehabilitation device |
| CN112315735A (en) * | 2020-10-27 | 2021-02-05 | 宜昌市中心人民医院(三峡大学第一临床医学院、三峡大学附属中心人民医院) | Electronic multi-functional rehabilitation training frame of integration |
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| CN113018792A (en) * | 2021-04-20 | 2021-06-25 | 巢湖学院 | Ligament stretching trainer for physical fitness |
| CN113018792B (en) * | 2021-04-20 | 2021-11-23 | 巢湖学院 | Ligament stretching trainer for physical fitness |
| CN113144531A (en) * | 2021-05-11 | 2021-07-23 | 温州医科大学附属第二医院（温州医科大学附属育英儿童医院） | Foot joint wound rehabilitation training device |
| CN113144531B (en) * | 2021-05-11 | 2022-02-08 | 温州医科大学附属第二医院（温州医科大学附属育英儿童医院） | Foot joint wound rehabilitation training device |
| CN113082615A (en) * | 2021-05-17 | 2021-07-09 | 潘佳佳 | Neurosurgery ankle rehabilitation training method |
| CN113693882B (en) * | 2021-09-02 | 2024-06-04 | 南开大学 | Series-parallel system oriented to gait and balance rehabilitation training |
| CN113693882A (en) * | 2021-09-02 | 2021-11-26 | 南开大学 | Series-parallel system for gait and balance rehabilitation training |
| CN113663292A (en) * | 2021-09-09 | 2021-11-19 | 河南省洛阳正骨医院（河南省骨科医院） | Lower body training instrument for orthopedics |
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| CN113855483A (en) * | 2021-09-30 | 2021-12-31 | 福州大学 | Swing-adjustable portable ankle rehabilitation robot |
| CN114177567B (en) * | 2021-12-20 | 2023-02-21 | 北京石油化工学院 | Ankle joint rehabilitation training device |
| CN114177567A (en) * | 2021-12-20 | 2022-03-15 | 北京石油化工学院 | Ankle joint rehabilitation training device |
| CN114432654A (en) * | 2022-02-17 | 2022-05-06 | 东华大学 | Ankle joint dynamic balance training device and training method |
| CN114515416A (en) * | 2022-03-30 | 2022-05-20 | 重庆市中医院 | Ankle rehabilitation training device |
| CN114712157B (en) * | 2022-04-02 | 2024-01-12 | 河南科技大学 | Wrist joint training robot based on three-degree-of-freedom parallel mechanism |
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