CN201743876U - Training device for knee joint rehabilitation - Google Patents
Training device for knee joint rehabilitation Download PDFInfo
- Publication number
- CN201743876U CN201743876U CN201020217560XU CN201020217560U CN201743876U CN 201743876 U CN201743876 U CN 201743876U CN 201020217560X U CN201020217560X U CN 201020217560XU CN 201020217560 U CN201020217560 U CN 201020217560U CN 201743876 U CN201743876 U CN 201743876U
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- CN
- China
- Prior art keywords
- flexible electrode
- drive device
- dielectric elastomer
- ring
- knee joint
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- Expired - Fee Related
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Abstract
The utility model relates to a training device for knee joint rehabilitation, which belongs to apparatuses for limb rehabilitation. A bracket is internally installed in a driving bandage and is composed of a semicircular cylinder shaped crus bracket and a thigh bracket which are hinged, and both a position sensor and a torque sensor are fixedly connected with a rotating shaft; cylindrical drivers are embedded in the driving bandage, and the cylindrical drivers are uniformly arranged around the bandage; and each cylindrical driver adopts the structure that the outer side of the upper half part of a ring-shaped dielectric elastomer is sleeved with an upper side flexible electrode while the outer side of the lower half part of the ring-shaped dielectric elastomer is sleeved with a lower side flexible electrode, the exterior of the ring-shaped dielectric elastomer is sleeved with an insulating thin film, a spring is positioned inside the ring-shaped dielectric elastomer, and all cylindrical drivers, the position sensor and the torque sensor are connected with a controller respectively. The training device for knee joint rehabilitation has a novel structure, adopts electro-reactive polymer similar to artificial muscle as the drivers, is small in volume, can not produce noise, is smooth in transmission, and is convenient for scientific therapy and rehabilitation of the knee joint.
Description
Technical field
This utility model relates to a kind of people's limb rehabilitating apparatus, is specially the recovery training appliance for recovery that a kind of patient's of realization knee joint is done rehabilitation exercise automatically.
Background technology
Along with to need the increasing severely with day of rehabilitation medical, reconditioning has become indispensable key link in orthopaedics or the other diseases treatment.The patient who carries out the patient behind the orthopaedics therapy or suffer from cerebral hemorrhage, cerebral thrombosis and sequela thereof also must could obtain the obvious treatment effect through positive reconditioning in therapeutic process or after the treatment.Knee joint is the significant points of human body lower limbs, and sickness rate is higher, and therefore kneed reconditioning is particularly important.Existing knee-joint rehabilitation training mechanism is general to adopt manually or electro-motor comes drive mechanism to carry out passive activity to take exercise.Manual rehabilitation appliances are operated not aspect, make people's fatigue easily, and train on is poor; The machinery volume of electrical motor driven is bigger, and wayward, and noise is big, drive mechanism power instability, and structure is not compact.
Electricity activation polymer be a kind of new relatively, under electricity irritation, produce obvious size and dimension actuator material that change, that have fine prospect.In the artificial-muscle field, electric activation polymer has plurality of advantages than Drive technology such as air impeller, marmem and the electricity activation pottery etc. of routine.This material strain is than high two orders of magnitude of piezoelectric ceramics; Than marmem, has higher response speed, lower density and bigger resilience force.Dielectric elastomer is a member of electric activation polymeric families.Silicones in the dielectric elastomer and acrylic elastomer show best overall performance as the artificial-muscle actuator material in all electric activation polymer, become the new material of the mechanical muscle driver of exploitation.Dielectric elastomer driver is made up of two compliant electrodes and the thin polymer film that is clipped in therebetween, applies the thickness that voltage will cause thin film and shrink and enlarged areas between two electrodes, thereby produce driving force.
Summary of the invention
This utility model provides a kind of knee-joint rehabilitation training device, and the volume that exists in the prior art is big and wayward to overcome, noise is big, drive mechanism power instability, problem that structure is not compact.The technical scheme that this utility model is taked is: carriage is built in and drives in the binder, carriage is formed with leg support is hinged greatly by the little leg support of semicircle cartridge type, the rotation angle α of little leg support and big leg support is 60 °～180 °, and position sensor is fixedlyed connected with turning cylinder respectively with torque sensor; Drive the embedded cylindrical drive device of binder, the cylindrical drive device is evenly arranged around binder; Described cylindrical drive device structure is: annular dielectric elastomer first half outside socket upside flexible electrode, Lower Half outside socket downside flexible electrode, the outside socket insulation film of this upside flexible electrode and downside flexible electrode, spring is positioned at ring-shaped inner part, the fixedly connected fixed terminal in cylindrical drive device two ends, each cylindrical drive device, position sensor and torque sensor are connected with controller respectively.
The utility model has the advantages that novel structure, adopt the electric activation polymer of similar artificial-muscle to do driver, can directly be wrapped in its joint part of patient, volume is little, compact conformation, noiselessness, stable drive, easy to adjust, built-in torque sensor and position sensor, ergometry and location parameter help treatment of knee joint science and rehabilitation easily.
This utility model knee-joint rehabilitation training device is specially adapted to the patient of the knee joint function imbalance that causes because of wound or cardiovascular and cerebrovascular vessel, by the science rehabilitation training, can recover kneed normal function preferably.
Description of drawings
Fig. 1 is a structural representation of the present utility model.
Fig. 2 is a cross-sectional view of the present utility model.
Fig. 3 is a carrier structure front view of the present utility model.
Fig. 4 is a carrier structure vertical view of the present utility model.
Fig. 5 is a cylindrical drive device structural representation of the present utility model.
Fig. 6 is a cylindrical drive device cross-sectional view of the present utility model.
Fig. 7 is a controller principle block diagram of the present utility model.
The specific embodiment
Carriage 2 is built in and drives in the binder 1, carriage 2 is by the shank carriage 5 and big leg support 8 hinged the forming of semicircle cartridge type, the rotation angle α of shank carriage 5 and big leg support 8 is 60 °～180 °, and position sensor 6 is fixedlyed connected with turning cylinder respectively with torque sensor 7; Drive the embedded cylindrical drive device 3 of binder, cylindrical drive device 3 is evenly arranged around binder; Described cylindrical drive device 3 structures are: annular dielectric elastomer 11 first halves outside socket upside flexible electrode 10, Lower Half outside socket downside flexible electrode 13, the outside socket insulation film 9 of this upside flexible electrode and downside flexible electrode, spring 12 is positioned at ring-shaped inner part, the fixedly connected fixed terminal 14 in cylindrical drive device 3 two ends, each cylindrical drive device 3, position sensor 6 and torque sensor 7 are connected with controller 4 respectively.
The structure of this utility model controller 4 is: flush bonding processor is connected with position sensor, torque sensor, display screen, memorizer and drive control module respectively, and this drive control module connects each cylindrical drive device respectively.
Operation principle of the present utility model and process are as follows: the rehabilitation patient is sitting on the chair, and the knee-joint rehabilitation training device is wrapped in shank knee joint place.Energized according to patient's sick and wounded situation, is selected kneed kinematic parameter by controller 4, regulates take down the exhibits angle, the speed of taking down the exhibits and take down the exhibits power and times of exercise.Control the degree that curves and the moment of each cylindrical drive device 3 respectively by the internal drive control module by controller 4 and software thereof.Controller 4 is by the voltage-regulation degree of crook of the upper and lower both sides of control flexible electrode.Flexible electrode gets electric, dielectric elastomer 11 expansion elongations, and when both sides flexible electrode voltage was inconsistent up and down, the elongation of dielectric elastomer 11 was inconsistent, thereby produced crooked.Regulate the voltage difference of upper and lower both sides flexible electrode, thereby regulate the degree of crook of cylindrical drive device 3, and then make the training aids bending, make patient's knee joint carry out crooked rehabilitation training.The patient can observe the motion conditions of rehabilitation limbs by the display screen of checking controller 4.Simultaneously controller by inner position sensor 6 and torque sensor 7 with the data storage of the each rehabilitation exercise of patient in the internal database of setting.
Claims (1)
1. knee-joint rehabilitation training device, it is characterized in that: carriage is built in and drives in the binder, carriage is formed with leg support is hinged greatly by the little leg support of semicircle cartridge type, the rotation angle α of little leg support and big leg support is 60 °～180 °, and position sensor is fixedlyed connected with turning cylinder respectively with torque sensor; Drive the embedded cylindrical drive device of binder, the cylindrical drive device is evenly arranged around binder; Described cylindrical drive device structure is: annular dielectric elastomer first half outside socket upside flexible electrode, Lower Half outside socket downside flexible electrode, the outside socket insulation film of this upside flexible electrode and downside flexible electrode, spring is positioned at ring-shaped inner part, the fixedly connected fixed terminal in cylindrical drive device two ends, each cylindrical drive device, position sensor and torque sensor are connected with controller respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201020217560XU CN201743876U (en) | 2010-06-02 | 2010-06-02 | Training device for knee joint rehabilitation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201020217560XU CN201743876U (en) | 2010-06-02 | 2010-06-02 | Training device for knee joint rehabilitation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201743876U true CN201743876U (en) | 2011-02-16 |
Family
ID=43578549
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201020217560XU Expired - Fee Related CN201743876U (en) | 2010-06-02 | 2010-06-02 | Training device for knee joint rehabilitation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201743876U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106109180A (en) * | 2016-09-09 | 2016-11-16 | 航天恒星科技有限公司 | A kind of rehabilitation training apparatus |
| CN107157705A (en) * | 2017-05-09 | 2017-09-15 | 京东方科技集团股份有限公司 | rehabilitation system and method |
| WO2018102975A1 (en) * | 2016-12-06 | 2018-06-14 | 深圳先进技术研究院 | Knee joint movement protection system and knee joint movement monitoring and protection method |
| CN111407017A (en) * | 2020-04-22 | 2020-07-14 | 浙江大学 | Wearable initiative fastening knee-pad based on dielectric elastomer driver |
| CN114288072A (en) * | 2021-09-09 | 2022-04-08 | 安徽中医药大学 | Knee joint rehabilitation device |
| KR20230016873A (en) * | 2021-07-27 | 2023-02-03 | 경북보건대학교 산학협력단 | leg edema relief device for wheelchair |
-
2010
- 2010-06-02 CN CN201020217560XU patent/CN201743876U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106109180A (en) * | 2016-09-09 | 2016-11-16 | 航天恒星科技有限公司 | A kind of rehabilitation training apparatus |
| WO2018102975A1 (en) * | 2016-12-06 | 2018-06-14 | 深圳先进技术研究院 | Knee joint movement protection system and knee joint movement monitoring and protection method |
| CN107157705A (en) * | 2017-05-09 | 2017-09-15 | 京东方科技集团股份有限公司 | rehabilitation system and method |
| WO2018205722A1 (en) * | 2017-05-09 | 2018-11-15 | 京东方科技集团股份有限公司 | Rehabilitation robot, rehabilitation system, rehabilitation method and rehabilitation apparatus |
| US11262844B2 (en) | 2017-05-09 | 2022-03-01 | Boe Technology Group Co., Ltd. | Rehabilitation robot, rehabilitation system, rehabilitation method and rehabilitation device |
| CN111407017A (en) * | 2020-04-22 | 2020-07-14 | 浙江大学 | Wearable initiative fastening knee-pad based on dielectric elastomer driver |
| KR20230016873A (en) * | 2021-07-27 | 2023-02-03 | 경북보건대학교 산학협력단 | leg edema relief device for wheelchair |
| KR102571565B1 (en) * | 2021-07-27 | 2023-08-28 | 경북보건대학교 산학협력단 | leg edema relief device for wheelchair |
| CN114288072A (en) * | 2021-09-09 | 2022-04-08 | 安徽中医药大学 | Knee joint rehabilitation device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110216 Termination date: 20120602 |