CN105997439A - 肌电信号控制的具有球副的三自由度踝关节辅助康复装置 - Google Patents
肌电信号控制的具有球副的三自由度踝关节辅助康复装置 Download PDFInfo
- Publication number
- CN105997439A CN105997439A CN201610591816.5A CN201610591816A CN105997439A CN 105997439 A CN105997439 A CN 105997439A CN 201610591816 A CN201610591816 A CN 201610591816A CN 105997439 A CN105997439 A CN 105997439A
- Authority
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- China
- Prior art keywords
- ball
- driving means
- lower platform
- sphere
- ankle joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000011084 recovery Methods 0.000 title abstract description 6
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 36
- 230000003183 myoelectrical effect Effects 0.000 claims description 25
- ZMNSRFNUONFLSP-UHFFFAOYSA-N mephenoxalone Chemical compound COC1=CC=CC=C1OCC1OC(=O)NC1 ZMNSRFNUONFLSP-UHFFFAOYSA-N 0.000 claims description 19
- 229960001030 mephenoxalone Drugs 0.000 claims description 19
- 239000004020 conductor Substances 0.000 claims description 6
- 210000002683 foot Anatomy 0.000 abstract description 9
- 238000005265 energy consumption Methods 0.000 abstract description 2
- 210000003423 ankle Anatomy 0.000 description 25
- 230000007246 mechanism Effects 0.000 description 12
- 238000011161 development Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 208000034657 Convalescence Diseases 0.000 description 4
- 241001503987 Clematis vitalba Species 0.000 description 3
- 230000035876 healing Effects 0.000 description 3
- 230000035479 physiological effects, processes and functions Effects 0.000 description 3
- 230000000386 athletic effect Effects 0.000 description 2
- 210000004556 brain Anatomy 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000003238 somatosensory effect Effects 0.000 description 2
- 210000004233 talus Anatomy 0.000 description 2
- 210000003371 toe Anatomy 0.000 description 2
- 241000593357 Austroderia fulvida Species 0.000 description 1
- 208000033999 Device damage Diseases 0.000 description 1
- 206010024453 Ligament sprain Diseases 0.000 description 1
- 206010068872 Toe walking Diseases 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000003108 foot joint Anatomy 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000001537 neural effect Effects 0.000 description 1
- 201000008482 osteoarthritis Diseases 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 210000001226 toe joint Anatomy 0.000 description 1
Classifications
-
- 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
- A61H1/0266—Foot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/316—Modalities, i.e. specific diagnostic methods
- A61B5/389—Electromyography [EMG]
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/08—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs for ankle joints
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1253—Driving means driven by a human being, e.g. hand driven
- A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
-
- 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
-
- 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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/60—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG]
- A61H2230/605—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG] used as a control parameter for the apparatus
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2230/00—Measuring physiological parameters of the user
- A63B2230/08—Measuring physiological parameters of the user other bio-electrical signals
- A63B2230/085—Measuring physiological parameters of the user other bio-electrical signals used as a control parameter for the apparatus
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Physical Education & Sports Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Pain & Pain Management (AREA)
- Biomedical Technology (AREA)
- Epidemiology (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
- Rehabilitation Therapy (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Rehabilitation Tools (AREA)
- Prostheses (AREA)
Abstract
Description
Claims (5)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610591816.5A CN105997439B (zh) | 2016-07-26 | 2016-07-26 | 肌电信号控制的具有球副的三自由度踝关节辅助康复装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610591816.5A CN105997439B (zh) | 2016-07-26 | 2016-07-26 | 肌电信号控制的具有球副的三自由度踝关节辅助康复装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN105997439A true CN105997439A (zh) | 2016-10-12 |
CN105997439B CN105997439B (zh) | 2018-09-21 |
Family
ID=57117847
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201610591816.5A Expired - Fee Related CN105997439B (zh) | 2016-07-26 | 2016-07-26 | 肌电信号控制的具有球副的三自由度踝关节辅助康复装置 |
Country Status (1)
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CN (1) | CN105997439B (zh) |
Cited By (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107803820A (zh) * | 2017-10-16 | 2018-03-16 | 清华大学 | 一种三自由度并联机构踝关节康复装置 |
CN107928695A (zh) * | 2017-11-10 | 2018-04-20 | 深圳市宝安区人民医院 | 踝关节固定装置 |
CN108245372A (zh) * | 2017-12-29 | 2018-07-06 | 武汉理工大学 | 气动肌肉结合柔索驱动的三自由度脚踝康复机器人 |
CN108720981A (zh) * | 2018-07-04 | 2018-11-02 | 李勇强 | 一种动静态单踝牵引*** |
CN109350920A (zh) * | 2018-11-01 | 2019-02-19 | 廖良新 | 一种骨科踝关节锻炼装置 |
CN109363818A (zh) * | 2018-12-07 | 2019-02-22 | 徐会法 | 一种小儿骨科牵引架 |
CN109771897A (zh) * | 2019-01-23 | 2019-05-21 | 渤海大学 | 一种脚踝三维力量训练装置 |
CN109820696A (zh) * | 2019-04-09 | 2019-05-31 | 合肥工业大学 | 一种基于人体关联驱动的脚踝康复机构 |
CN110123574A (zh) * | 2019-04-28 | 2019-08-16 | 湖南大学 | 一种多功能脚踝康复足疗一体装置 |
US10675202B2 (en) | 2016-11-09 | 2020-06-09 | Korea Institute Of Robot & Convergence | Leg rehabilitation apparatus for neurological disease for rehabilitating leg through up/down stretching and eversion/inversion stretching for muscles |
CN111568697A (zh) * | 2020-05-22 | 2020-08-25 | 深圳市大鹏新区南澳人民医院 | 一种智能型踝关节运动装置 |
CN112155941A (zh) * | 2020-10-12 | 2021-01-01 | 王灿 | 踝关节康复机器人 |
CN114028174A (zh) * | 2021-12-13 | 2022-02-11 | 杭州电子科技大学 | 一种脚踝康复按摩椅 |
CN114652574A (zh) * | 2022-02-08 | 2022-06-24 | 天津大学 | 面向踝关节骨折术后康复的四自由度并联机器人 |
CN114712157A (zh) * | 2022-04-02 | 2022-07-08 | 河南科技大学 | 一种基于三自由度并联机构的腕关节训练机器人 |
CN115476343A (zh) * | 2022-09-23 | 2022-12-16 | 哈尔滨理工大学 | 一种踝关节康复外骨骼机器人 |
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CN201168163Y (zh) * | 2008-02-02 | 2008-12-24 | 河北工业大学 | 一种踝关节康复机器人 |
CN102499854A (zh) * | 2011-11-18 | 2012-06-20 | 上海电机学院 | 并联结构式踝关节康复训练器 |
CN102631276A (zh) * | 2011-12-31 | 2012-08-15 | 中国科学院深圳先进技术研究院 | 康复训练机器人中的交互方法及*** |
CN102641196A (zh) * | 2011-12-30 | 2012-08-22 | 中国科学院深圳先进技术研究院 | 康复训练机器人控制***及控制方法 |
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CN103190972A (zh) * | 2013-04-12 | 2013-07-10 | 郑州轻工业学院 | 一种具有球销副的踝关节辅助康复装置 |
CN203183277U (zh) * | 2013-03-12 | 2013-09-11 | 汕头大学 | 一种三转动踝关节康复训练机 |
CN103479502A (zh) * | 2013-09-16 | 2014-01-01 | 北京交通大学 | 一种踝关节康复装置 |
CN204072672U (zh) * | 2014-09-09 | 2015-01-07 | 佳木斯大学 | 并联式踝关节康复机器人 |
CN104490563A (zh) * | 2014-12-25 | 2015-04-08 | 电子科技大学 | 一种基于气动肌肉的智能可穿戴下肢 |
CN105476819A (zh) * | 2016-01-16 | 2016-04-13 | 北京工业大学 | 一种主动支链倾斜布置的踝关节康复机构 |
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2016
- 2016-07-26 CN CN201610591816.5A patent/CN105997439B/zh not_active Expired - Fee Related
Patent Citations (12)
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JPH08196587A (ja) * | 1995-01-27 | 1996-08-06 | Tanpopo World Kk | 足首回し装置 |
CN201168163Y (zh) * | 2008-02-02 | 2008-12-24 | 河北工业大学 | 一种踝关节康复机器人 |
CN102499854A (zh) * | 2011-11-18 | 2012-06-20 | 上海电机学院 | 并联结构式踝关节康复训练器 |
CN102641196A (zh) * | 2011-12-30 | 2012-08-22 | 中国科学院深圳先进技术研究院 | 康复训练机器人控制***及控制方法 |
CN102631276A (zh) * | 2011-12-31 | 2012-08-15 | 中国科学院深圳先进技术研究院 | 康复训练机器人中的交互方法及*** |
CN102698411A (zh) * | 2012-06-29 | 2012-10-03 | 中国科学院自动化研究所 | 坐卧式下肢康复机器人及相应的主动训练控制方法 |
CN203183277U (zh) * | 2013-03-12 | 2013-09-11 | 汕头大学 | 一种三转动踝关节康复训练机 |
CN103190972A (zh) * | 2013-04-12 | 2013-07-10 | 郑州轻工业学院 | 一种具有球销副的踝关节辅助康复装置 |
CN103479502A (zh) * | 2013-09-16 | 2014-01-01 | 北京交通大学 | 一种踝关节康复装置 |
CN204072672U (zh) * | 2014-09-09 | 2015-01-07 | 佳木斯大学 | 并联式踝关节康复机器人 |
CN104490563A (zh) * | 2014-12-25 | 2015-04-08 | 电子科技大学 | 一种基于气动肌肉的智能可穿戴下肢 |
CN105476819A (zh) * | 2016-01-16 | 2016-04-13 | 北京工业大学 | 一种主动支链倾斜布置的踝关节康复机构 |
Cited By (23)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10675202B2 (en) | 2016-11-09 | 2020-06-09 | Korea Institute Of Robot & Convergence | Leg rehabilitation apparatus for neurological disease for rehabilitating leg through up/down stretching and eversion/inversion stretching for muscles |
CN107803820A (zh) * | 2017-10-16 | 2018-03-16 | 清华大学 | 一种三自由度并联机构踝关节康复装置 |
CN107928695A (zh) * | 2017-11-10 | 2018-04-20 | 深圳市宝安区人民医院 | 踝关节固定装置 |
CN107928695B (zh) * | 2017-11-10 | 2021-06-08 | 深圳市宝安区人民医院 | 踝关节固定装置 |
CN108245372A (zh) * | 2017-12-29 | 2018-07-06 | 武汉理工大学 | 气动肌肉结合柔索驱动的三自由度脚踝康复机器人 |
CN108245372B (zh) * | 2017-12-29 | 2023-09-26 | 武汉理工大学 | 气动肌肉结合柔索驱动的三自由度脚踝康复机器人 |
CN108720981A (zh) * | 2018-07-04 | 2018-11-02 | 李勇强 | 一种动静态单踝牵引*** |
CN109350920A (zh) * | 2018-11-01 | 2019-02-19 | 廖良新 | 一种骨科踝关节锻炼装置 |
CN109363818A (zh) * | 2018-12-07 | 2019-02-22 | 徐会法 | 一种小儿骨科牵引架 |
CN109771897A (zh) * | 2019-01-23 | 2019-05-21 | 渤海大学 | 一种脚踝三维力量训练装置 |
CN109820696A (zh) * | 2019-04-09 | 2019-05-31 | 合肥工业大学 | 一种基于人体关联驱动的脚踝康复机构 |
CN109820696B (zh) * | 2019-04-09 | 2021-04-13 | 合肥工业大学 | 一种基于人体关联驱动的脚踝康复机构 |
CN110123574A (zh) * | 2019-04-28 | 2019-08-16 | 湖南大学 | 一种多功能脚踝康复足疗一体装置 |
CN111568697A (zh) * | 2020-05-22 | 2020-08-25 | 深圳市大鹏新区南澳人民医院 | 一种智能型踝关节运动装置 |
CN112155941B (zh) * | 2020-10-12 | 2022-07-05 | 王灿 | 踝关节康复机器人 |
CN112155941A (zh) * | 2020-10-12 | 2021-01-01 | 王灿 | 踝关节康复机器人 |
CN114028174A (zh) * | 2021-12-13 | 2022-02-11 | 杭州电子科技大学 | 一种脚踝康复按摩椅 |
CN114028174B (zh) * | 2021-12-13 | 2024-01-30 | 杭州电子科技大学 | 一种脚踝康复按摩椅 |
CN114652574A (zh) * | 2022-02-08 | 2022-06-24 | 天津大学 | 面向踝关节骨折术后康复的四自由度并联机器人 |
CN114652574B (zh) * | 2022-02-08 | 2023-10-17 | 天津大学 | 面向踝关节骨折术后康复的四自由度并联机器人 |
CN114712157A (zh) * | 2022-04-02 | 2022-07-08 | 河南科技大学 | 一种基于三自由度并联机构的腕关节训练机器人 |
CN114712157B (zh) * | 2022-04-02 | 2024-01-12 | 河南科技大学 | 一种基于三自由度并联机构的腕关节训练机器人 |
CN115476343A (zh) * | 2022-09-23 | 2022-12-16 | 哈尔滨理工大学 | 一种踝关节康复外骨骼机器人 |
Also Published As
Publication number | Publication date |
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CN105997439B (zh) | 2018-09-21 |
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