CN108938337B - Ankle rehabilitation assistance type exoskeleton device - Google Patents
Ankle rehabilitation assistance type exoskeleton device Download PDFInfo
- Publication number
- CN108938337B CN108938337B CN201710355336.3A CN201710355336A CN108938337B CN 108938337 B CN108938337 B CN 108938337B CN 201710355336 A CN201710355336 A CN 201710355336A CN 108938337 B CN108938337 B CN 108938337B
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- plate
- sole
- shank
- lower leg
- ankle joint
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- 210000003423 ankle Anatomy 0.000 title claims abstract description 17
- 210000002683 foot Anatomy 0.000 claims abstract description 48
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 42
- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- 230000001133 acceleration Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 230000003139 buffering effect Effects 0.000 claims description 2
- 230000006835 compression Effects 0.000 claims description 2
- 238000007906 compression Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 claims 1
- 238000012544 monitoring process Methods 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 9
- 230000008878 coupling Effects 0.000 abstract 1
- 238000010168 coupling process Methods 0.000 abstract 1
- 238000005859 coupling reaction Methods 0.000 abstract 1
- 230000003044 adaptive effect Effects 0.000 description 5
- 244000309466 calf Species 0.000 description 5
- 238000000418 atomic force spectrum Methods 0.000 description 3
- 230000000875 corresponding effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 210000003141 lower extremity Anatomy 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 210000000452 mid-foot Anatomy 0.000 description 1
- 230000004962 physiological condition Effects 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
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- 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
- A61H2205/10—Leg
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses an ankle rehabilitation assistance type exoskeleton device which comprises a foot part, a shank and a battery system. The foot is composed of sole, ankle joint and shoe-shaped shell, the ankle joint is respectively connected with sole and shank. The shank comprises shank curb plate and self-adaptation power device and shank back push pedal, shank shell, shank bandage, and self-adaptation power device provides power and drives the shank rotation, drives the ankle joint through the drive belt transmission simultaneously and rotates to realize the reciprocating rehabilitation motion and the helping hand walking of ankle joint. Meanwhile, the exoskeleton sole realizes the three-dimensional split layout of the upper space and the lower space with the pressure sensor as a support. The intelligent control system is adopted, so that the human-machine coupling requirement can be met to the maximum extent, and the storage and cloud uploading of the data of the sensors during rehabilitation training or walking are realized, so that a rehabilitation doctor can refer to and formulate a rehabilitation medical scheme. The ankle joint structure performance of the human body is simulated, the bearing function requirement of the ankle joint is met, and the stability and the flexibility are excellent.
Description
Technical Field
The invention relates to human body wearing equipment, in particular to an ankle rehabilitation assistance type exoskeleton device.
Background
Walking is the result of the movement of the lower limbs of the human body driving the movement of the center of gravity of the human body, and the ankle bears larger force in the movement of the lower limbs and maintains the body balance.
The phenomenon of Chinese aging is more and more serious, and the appearance of the exoskeleton can help some old people solve the problems of poor physical strength and inconvenient walking, and also can help some people losing walking ability to recover the walking ability.
Disclosure of Invention
The invention aims to provide an ankle joint assisting and balancing device which realizes autonomous balancing of foot motions and provides assistance for walking of a human body.
The aim of the invention is achieved by the following steps: including a calf 1, a foot 2 and a battery system 3. The shank 1 is composed of a shank side plate 7, an adaptive power device 8, a shank rear push plate 9, a shank shell 10 and shank binding bands 11, wherein the adaptive power device 8 provides power to drive the shank 1 to rotate, and meanwhile, the ankle joint 5 is driven to rotate through a transmission belt 28, so that the sole 4 pushes feet to move forwards. The calf side plate 7 includes: a lower leg inner side plate 23, a lower leg outer side plate 24, a control plate 25, and a control plate fixing plate 26; the inner side plate 23 and the outer side plate 24 of the lower leg are movably riveted with the first belt wheel 22 at the same time, so that the lower leg 1 rotates in a certain range by taking the first belt wheel 22 as the axle center; the control plate 25 is connected to a control plate fixing plate 26, and the control plate fixing plate 26 is connected to the outer leg inner plate 23 and the leg outer plate 24. The adaptive power device 8 includes: a second belt pulley 27, a transmission belt 28, a second six-axis sensor 29, a motor 30 and a motor housing 31; wherein the motor 30 is fixedly connected with the second belt pulley 27, the motor 30 rotates to drive the second belt pulley 27 to rotate, and the driving belt 28 drives the first belt pulley 22 to rotate so as to push the feet to move forwards; the second pulley 27 is fixedly connected to the inner shank plate 23 and the outer shank plate 24, and the second six-axis sensor 29 and the motor case 31 are connected to the inner shank plate 23 and the outer shank plate 24, respectively. The lower leg rear push plate 9 includes: a shank rear push plate urging plate 32, a shank rear push plate connecting plate 33; wherein the lower leg rear push plate urging plate 32 is connected to the inner lower leg inner plate 23 and the lower leg outer plate 24 through the lower leg rear push plate connecting plate 33. The foot 2 is composed of a sole 4, an ankle joint 5 and a shoe-shaped shell 6, and the ankle joint 5 is respectively connected with the sole 4 and the shank 1. The sole 4 includes: a lower sole plate 14, a middle sole plate 15, an upper sole plate 16, a sole plate connecting plate 17, and sole pressure sensors 18; wherein the lower foot bottom plate 14, the middle sole plate 15, the upper sole plate 16 and the sole pressure sensor 18 are respectively fixedly connected with the sole plate connecting plate 17; the middle sole plate 15 and the upper sole plate 16 are simultaneously fixedly connected with the ankle joint 5. The ankle joint 5 includes: an ankle joint connecting plate 19, a first six-axis sensor 20, a first six-axis sensor fixing plate 21, and a first pulley 22; wherein the ankle joint connecting plate 19, the middle sole plate 15 and the upper sole plate 16 are fixedly connected with the first belt pulley 22; the first six-axis sensor 20 is fixed on a first six-axis sensor fixing plate 21, and the first six-axis sensor fixing plate 21 is connected with the ankle joint connecting plate 19; the first pulley 22 is movably riveted with the lower leg 1. The battery system 3 includes: a power module 12, a waist strap 13; wherein the power module 12 is embedded in the waist strap 13 to power the control circuit and motor 30.
According to the ankle rehabilitation assistance exoskeleton device, when a person steps on a sole plate, a pressure sensor of the sole plate senses pressure and transmits signals to a control board, then the control board sends out instructions to enable a motor to drive a shank to rotate, and the ankle and the sole plate are driven to move through transmission of a transmission belt, so that the leg and the foot are pushed to move forwards under the action force of a rear pushing plate of the shank and the sole plate; meanwhile, the pressure applied by the human foot to the sole plate is continuously changed, and the pressure sensor continuously feeds back signals to the control board, so that the control board sends corresponding instructions according to different signals. When the lower leg and the foot move, the first six-axis sensor and the second six-axis sensor sense acceleration and transmit signals to the control board, and the control board sends corresponding instructions.
According to the ankle rehabilitation assistance exoskeleton device, the sole pressure sensor is fixed in the middle of the sole plate connecting plate, and the sole plate connecting plate is arranged between the lower sole plate and the middle sole plate, so that accurate pressure detection by the sole pressure sensor can be realized, and a buffering function can be realized; the upper sole plate is directly connected with the middle sole plate, so that the structural performance of enhancing the compression resistance of the foot is achieved; meanwhile, the thicknesses of the upper sole plate and the middle sole plate are smaller, so that the process requirements can be better met; the side structure of the upper foot bottom plate and the side structure of the middle foot bottom plate are connected with the ankle joint at the same time, so that the connecting structural requirement is realized.
Drawings
FIG. 1 is a schematic view of the structure of an ankle rehabilitation aid exoskeleton device of the present invention;
FIG. 2 is a rear view of the present invention;
FIG. 3 is a schematic view of a partial construction of an ankle rehabilitation aid exoskeleton device according to the present invention;
FIG. 4 is an enlarged schematic view of the foot section of the present invention;
FIG. 5 is an enlarged schematic top view of the foot according to the present invention;
FIG. 6 is an enlarged view of an ankle joint according to the present invention;
FIG. 7 is an enlarged schematic view of the calf of the present invention;
FIG. 8 is a waveform diagram of a plantar pressure sensor of the subject of the present invention while walking;
FIG. 9 is a motion direction indication diagram of the present invention;
fig. 10 is a waveform diagram of a first six-axis sensor of the subject of the present invention while walking.
The reference numerals are 1 and the lower leg; 2. a foot; 3. a battery system; 4. sole of foot; 5. an ankle joint; 6. a shoe-shaped housing; 7. a calf side plate 8, an adaptive power device; 9. a lower leg rear push plate; 10. a lower leg shell; 11. shank straps; 12. a power module; 13. waist band; 14. a lower foot bottom plate; 15. a midfoot floor; 16. a upper foot bottom plate; 17. a sole plate connecting plate; 18. a sole pressure sensor; 19. an ankle joint connection plate; 20. a first six-axis sensor; 21. a first six-axis sensor fixing plate; 22. a first pulley; 23. an inner leg panel; 24. an outer leg panel; 25. a control board; 26. a control board fixing plate; 27. a second pulley; 28. a drive belt; 29. a second six-axis sensor; 30. a motor; 31. a motor housing; 32. a shank rear push plate force application plate; 33. the lower leg rear push plate is connected with the plate.
Detailed Description
The process according to the invention is described in further detail below with reference to the accompanying drawings.
As can be seen in fig. 1, 2 and 3, an ankle rehabilitation aid exoskeleton device comprises a shank, a foot and a battery system. The shank comprises shank curb plate and self-adaptation power device and shank back push pedal, shank shell, shank bandage, and self-adaptation power device provides power and drives the shank rotation, drives the ankle joint through driving belt simultaneously to make the sole promote the foot and walk forward. The foot is composed of sole, ankle joint and shoe-shaped shell, the ankle joint is respectively connected with sole and shank.
As can be seen in connection with fig. 4 and 5, the sole comprises: a lower foot sole plate, a middle foot sole plate, an upper foot sole plate, a sole plate connecting plate and a sole pressure sensor; wherein the lower foot bottom plate, the middle foot bottom plate, the upper foot bottom plate and the sole pressure sensor are respectively fixedly connected with the sole connecting plate; the middle sole plate and the upper sole plate are fixedly connected with the ankle joint at the same time.
As can be seen in connection with fig. 6, the ankle joint includes: the ankle joint connecting plate, the first six-axis sensor fixing plate and the first belt wheel; wherein the ankle joint connecting plate, the middle foot bottom plate and the upper foot bottom plate are fixedly connected with the first belt pulley; the first six-axis sensor is fixed on a first six-axis sensor fixing plate, and the first six-axis sensor fixing plate is connected with the ankle joint connecting plate; the first belt wheel is movably riveted with the lower leg. The battery system includes: a power module and a waist strap; the power module is embedded in the waist binding band and supplies power for the self-adaptive power device.
As can be seen in connection with fig. 7, the calf side plate includes: the leg inner side plate, the leg outer side plate, the control plate and the control plate fixing plate; the inner side plate of the lower leg and the outer side plate of the lower leg are simultaneously movably riveted with the first belt wheel, so that the lower leg rotates in a certain range by taking the first belt wheel as an axle center; the control panel is connected with the control panel fixed plate, and the control panel fixed plate is connected with the outside shank inner side plate and the shank outer side plate. The adaptive power device includes: the device comprises a second belt wheel, a transmission belt, a second six-axis sensor, a motor and a motor shell; the motor is fixedly connected with the second belt pulley, and the motor rotates to drive the second belt pulley to rotate, and the first belt pulley is driven by the transmission belt to rotate so as to push the feet to move forwards; the second belt wheel is fixedly connected with the inner side plate of the lower leg and the outer side plate of the lower leg, and the second six-axis sensor and the motor shell are respectively connected with the inner side plate of the lower leg and the outer side plate of the lower leg. The shank rear push plate comprises: a shank rear push plate force application plate and a shank rear push plate connecting plate; the lower leg rear push plate force application plate is connected with the inner lower leg inner side plate and the lower leg outer side plate through the lower leg rear push plate connecting plate.
According to the foot ankle rehabilitation assistance exoskeleton device, the pressure sensor on the sole of the foot can transmit different signals to the control board according to corresponding actions, then the control board transmits instructions, the motor is started, the self-adaptive power device provides power to drive the lower leg to rotate, meanwhile, the transmission belt drives the ankle joint to rotate, the sole of the foot provides thrust for the foot, so that the device provides forward assistance for a wearer, meanwhile, the six-axis sensor feeds back signals to the control board, and the control board transmits different instructions to provide assistance and balance force with different angles for all forward actions, so that the autonomous balance function of the multi-sensor is realized.
The invention relates to an ankle rehabilitation assistance exoskeleton device, which comprises the following steps of:
and step 1, collecting and processing data. The user wears the device, the power supply is turned on, the connection of the microprocessor control board and the network is completed, the user starts walking, the microprocessor records the numerical values output by each sensor and transmits the numerical values to the cloud database and the electronic mobile terminal application through the network, and the cloud server and the mobile terminal application can process the acquired data and generate a data processing report.
And 2, analyzing the data. As can be seen in conjunction with fig. 8, the force profiles of the four sole pressure sensors P1, P2, P3, P4 vary periodically, and in each cycle, the force profile of each pressure sensor has a maximum value less than or equal to 1/4 of the subject's weight, a minimum value near 0, and substantially uniform force profile fluctuation conditions.
As can be seen in conjunction with fig. 9 and 10, the six-axis sensor wave pattern varies periodically, and during each cycle, the foot will have a very pronounced peak when it lands. According to the measurement data distribution of the four pressure sensors, the heel of the user falls to the ground firstly, the front foot falls to the ground secondly, and the force condition of the foot step and the movement characteristics of the walking foot step can be obtained according to the time difference between the front and the back.
And 3, self-adaptive application. According to the detection of the six-axis sensor and the plantar pressure sensor, the system can judge the movement intention of the ankle in the initial stage and actively assist the movement of the ankle joint; meanwhile, the system also controls the motor according to the gait of the normal person walking and the prescription adjustment parameter of the rehabilitation doctor to carry out passive reciprocating training on the ankle joint of the user.
And 4, formulating a rehabilitation scheme according to the data. According to the data collected by the system, a rehabilitation doctor analyzes the physiological conditions of the ankle joint and the footsteps of the user and makes a personalized rehabilitation training scheme for the user.
Claims (3)
1. An ankle rehabilitation assistance exoskeleton device is characterized by comprising a foot part, a shank and a battery system; the foot consists of sole, ankle joint and shoe-shaped casing, the ankle joint is connected with sole and shank respectively; the shank consists of a shank side plate, a self-adaptive power device, a shank rear push plate, a shank shell and shank binding bands; the battery system supplies power to the self-adaptive power device, the self-adaptive power device converts electric energy into mechanical energy to drive the shank side plate and the shank rear push plate to rotate, and simultaneously, the ankle joint is driven to rotate through the transmission belt, so that the sole pushes the foot and the shank rear push plate to push the shank of a wearer to move forwards; the structure of the sole comprises a lower sole plate, a middle sole plate, an upper sole plate, a sole plate connecting plate and sole pressure sensors, wherein the lower sole plate, the middle sole plate, the upper sole plate and the sole pressure sensors are respectively and fixedly connected with the sole plate connecting plate, the middle sole plate and the upper sole plate are simultaneously and fixedly connected with ankle joints, and the exoskeleton sole structure realizes three-dimensional split layout of an upper space and a lower space supported by the pressure sensors; the sole pressure sensor is fixed in the middle of a sole plate connecting plate, and the sole plate connecting plate is arranged between the lower sole plate and the middle sole plate to realize pressure detection and buffering; the upper sole plate is directly connected with the middle sole plate, so that the compression-resistant structure of the foot is enhanced; the side surface structure of the upper foot bottom plate and the side surface structure of the middle foot bottom plate are connected with the ankle joint at the same time, so that a connecting structure is realized; the ankle joint comprises an ankle joint connecting plate, a first six-axis sensor fixing plate and a first belt wheel, wherein the ankle joint connecting plate, a middle foot bottom plate and an upper foot bottom plate are fixedly connected with the first belt wheel, the first six-axis sensor is fixed on the first six-axis sensor fixing plate, the first six-axis sensor fixing plate is connected with the ankle joint connecting plate, and the first belt wheel is movably riveted with the lower leg; the lower leg side plate comprises a lower leg inner side plate, a lower leg outer side plate, a control plate and a control plate fixing plate, wherein the lower leg inner side plate and the lower leg outer side plate are simultaneously movably riveted with the first belt wheel, so that the lower leg rotates in a certain range by taking the first belt wheel as an axle center, the control plate is connected with the control plate fixing plate, and the control plate fixing plate is connected with the outer lower leg inner side plate and the lower leg outer side plate; the self-adaptive power device comprises a second belt pulley, a transmission belt, a second six-axis sensor, a motor and a motor shell; the motor is fixedly connected with the second belt pulley, the motor rotates to drive the second belt pulley to rotate, the first belt pulley is driven by the transmission belt to rotate so as to push the feet to move forwards, the second belt pulley is fixedly connected with the inner side plate of the lower leg and the outer side plate of the lower leg, and the second six-axis sensor and the motor shell are respectively connected with the inner side plate of the lower leg and the outer side plate of the lower leg; the lower leg rear push plate comprises a lower leg rear push plate force application plate and a lower leg rear push plate connecting plate, wherein the lower leg rear push plate force application plate is connected with an inner lower leg inner side plate and an outer lower leg side plate through the lower leg rear push plate connecting plate; the battery system comprises a power module and a waist strap, wherein the power module is embedded in the waist strap and supplies power to the self-adaptive power device; the first belt pulley and the second belt pulley are driven by the driving belt, the driving ratio is smaller than 3, the driving belt adopts a flat belt, the load impact can be alleviated, the operation is stable and noiseless, the manufacturing and mounting precision is not as high as the requirement of meshing driving, the slipping is caused during overload, and the other parts can be prevented from being damaged.
2. The ankle rehabilitation aid type exoskeleton device according to claim 1, wherein the axis of the first belt wheel is fixedly connected with the middle sole plate, the upper sole plate and the ankle joint connecting plate through bearings, and when the first belt wheel is driven to rotate by the transmission belt, the sole correspondingly rotates by the same angle; the first belt pulley is a hole plate belt pulley, a bolt penetrates through any hole in the belt pulley and is fixedly connected with the belt pulley, meanwhile, a section of free rotation radian reserved for the bolt is penetrated through the outer side plate of the lower leg, and then the first belt pulley is fixedly connected with the ankle joint connecting plate, the middle sole plate and the upper sole plate, so that the stability of the power assisting when the power assisting is transmitted to the sole from the first belt pulley is enhanced, and the rotation limit of the sole can be limited.
3. The ankle rehabilitation assistance type exoskeleton device of claim 1, wherein the first six-axis sensor and the second six-axis sensor can accurately detect acceleration of the device during operation and timely feed back acceleration values of three directions of an X axis and a Y axis and a Z axis of a control board, the control board sends a command to the motor after processing the values, the command is indicated to output power and torque of the motor in the next step, and finally the motor executes the command, so that the function of controlling the device to output the assistance is achieved, and the function of monitoring whether the device operates in a normal state is also achieved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710355336.3A CN108938337B (en) | 2017-05-19 | 2017-05-19 | Ankle rehabilitation assistance type exoskeleton device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710355336.3A CN108938337B (en) | 2017-05-19 | 2017-05-19 | Ankle rehabilitation assistance type exoskeleton device |
Publications (2)
| Publication Number | Publication Date |
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| CN108938337A CN108938337A (en) | 2018-12-07 |
| CN108938337B true CN108938337B (en) | 2024-02-06 |
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| CN201710355336.3A Active CN108938337B (en) | 2017-05-19 | 2017-05-19 | Ankle rehabilitation assistance type exoskeleton device |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110731881B (en) * | 2019-09-09 | 2022-09-16 | 无锡美安雷克斯医疗机器人有限公司 | Medical walking aid walking safety protection system |
| CN113081699B (en) * | 2021-04-08 | 2022-06-24 | 中国科学技术大学 | Self-power-generation type ankle joint varus-valgus stability augmentation system and method |
| CN114366549B (en) * | 2021-10-21 | 2024-04-12 | 郑州安杰莱智能科技有限公司 | Multi-degree-of-freedom ankle rehabilitation training device and control method thereof |
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| WO2016083650A1 (en) * | 2014-11-27 | 2016-06-02 | Marsi Bionics S.L. | Exoskeleton for assisting human movement |
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| CN207886412U (en) * | 2017-05-19 | 2018-09-21 | 南京拓步智能科技有限公司 | A kind of ankle rehabilitation assistance type exoskeleton device |
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2017
- 2017-05-19 CN CN201710355336.3A patent/CN108938337B/en active Active
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| CN103054692A (en) * | 2013-01-29 | 2013-04-24 | 苏州大学 | Wearable lower limb exoskeleton walking-assisted robot |
| WO2016083650A1 (en) * | 2014-11-27 | 2016-06-02 | Marsi Bionics S.L. | Exoskeleton for assisting human movement |
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| CN108938337A (en) | 2018-12-07 |
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