CN209107991U - A kind of wearable ankle rehabilitation running gear of five degree of freedom - Google Patents
A kind of wearable ankle rehabilitation running gear of five degree of freedom Download PDFInfo
- Publication number
- CN209107991U CN209107991U CN201820501841.4U CN201820501841U CN209107991U CN 209107991 U CN209107991 U CN 209107991U CN 201820501841 U CN201820501841 U CN 201820501841U CN 209107991 U CN209107991 U CN 209107991U
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- electric pushrod
- rigid connector
- rigid
- shank
- ankle
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Abstract
A kind of wearable ankle rehabilitation running gear of five degree of freedom, including rigid sole, fixes sleeve under fixes sleeve and shank on shank, fixes sleeve on the shank, it is connected between fixes sleeve and rigid sole under shank and is coated on shank, the binding structure of the flexible material of ankle-joint and ankle and foot, electric pushrod before electric pushrod and second before rigid sole front end two sides have been movably connected with telescopic first, electric pushrod after electric pushrod and second after rigid sole rear end sides have been movably connected with telescopic first, rigid sole front end top end is connected with electric pushrod before third.The utility model at least has the variation freedom degree for being not only able to satisfy different type ankle rehabilitation training but also is unlikely to cause the waste of mechanical material, moreover it is possible to the advantages that allowing patient to carry out the miscellaneous function of ankle rehabilitation training and normal walking during treatment.
Description
Technical field
The utility model relates to a kind of wearable ankle rehabilitation running gears of five degree of freedom.
Background technique
The device for healing and training of general ankle is divided into wearable and non-wearable parallel institution.This parallel institution has
The multivariant characteristic of Double tabletop, one of platform is stationary, is changed by the transformation of 6 drive rods or 3 driving pole lengths
Become the pose of another platform, to carry out dorsiflexion to the ankle of damage automatically, turn up and act around rehabilitations such as rings.And 6 drivings
The mechanical mechanism of bar can also be finely adjusted according to the different size and injury site of ankle.This general technology is also matched with computer
It closes, handles doctor the record of the servo-actuated data of damage ankle for the first time by parallel institution, carry out ankle with the mode of teaching
The subsequent rehabilitation of injury.
The exoskeleton mechanism of general auxiliary walking is all the leg connected type of wearing, and general all for the trouble of lower limb paralysis
Person, less to carry out auxiliary propelling machine design for this specific position of ankle damage, these auxiliary propelling machines are general
Power-assisted is provided to human body lower limbs by various struts and fixed frame, makes one still can independently to carry out in the case where injury
The movement of the basis such as walking.
However the shortcomings that prior art, is:
First is that is generally used is all 3DOF or the parallel institution of 6DOF, and 3DOF is easy to appear and ankle
The problem of damage position is not adapted to, and then there are many unnecessary mechanical materials to waste for the parallel institution of 6DOF.So right
For the rehabilitation training of ankle damage patient, the convalescence device driving of the 3DOF of 3 drive rods is very few, and 6DOF is in parallel
Then redundancy is excessive for ankle rehabilitation for mechanism.
Second is that general device for healing and training is only applicable to carry out the part of rehabilitation training, and general auxiliary walking is outer
Bone mechanism generally directed to be all the patient of lower limb paralysis, and do not have the function of rehabilitation training.Because of most foot
Ankle rehabilitation mechanical does not contact to earth, and generally only uses in rehabilitation training Shi Caiyu patient, does not have the function of auxiliary walking.
And the exoskeleton mechanism of common auxiliary walking is too many for simple ankle damage redundancy, specific aim is not strong, substantially uses
It is not specially designed for the part of ankle rehabilitation in the mechanism of ankle damage auxiliary walking.
Utility model content
To solve defect existing for above-mentioned technology, the utility model is intended to provide a kind of wearable ankle rehabilitation of five degree of freedom
Running gear at least has the variation freedom degree for being not only able to satisfy different type ankle rehabilitation training but also is unlikely to cause machinery
The waste of material, moreover it is possible to the advantages that allowing patient to carry out ankle rehabilitation training and auxiliary normal walking during treatment.
Specific utility model content is as follows:
A kind of wearable ankle rehabilitation running gear of five degree of freedom, be suitable for left foot or right crus of diaphragm, it include rigid sole,
Fixes sleeve under fixes sleeve and shank on shank, fixes sleeve and rigid shoes under fixes sleeve, shank on the shank
The binding structure for being coated on the flexible material of shank, ankle-joint and ankle and foot, the rigid sole front end are connected between bottom
Electric pushrod before electric pushrod and second before two sides have been movably connected with telescopic first, rigid sole rear end sides difference
Electric pushrod after electric pushrod and second after being connected with telescopic first, rigid sole front end top end are connected with
Electric pushrod before third, electric pushrod upper end before electric pushrod upper end, third before electric pushrod upper end, second before described first,
Electric pushrod upper end is equipped with pressure sensor behind electric pushrod upper end and second after first, and the pressure sensor passes through number
It is connected according to acquisition system and computer control system control.
One of preferably, on the shank fixes sleeve two sides be respectively equipped on first rigid connector and
Rigid connector on second, the front side of fixes sleeve is equipped with rigid connector in third on the shank, fixed under the shank
Sleeve two sides are respectively equipped with the first lower rigid connector and the second lower rigid connector, the front end two sides difference of the rigid sole
Equipped with rigid connector before rigid connector and second before first, rigid sole front end top is rigidly connected before being equipped with third
Part, rigid connector after rigid connector and second after the rigid sole rear end sides are respectively equipped with first, before described first
The top and bottom end of electric pushrod are flexibly connected with rigid connector before rigid connector and first on described first respectively, described
Before second the top and bottom end of electric pushrod respectively with described second on before rigid connector and second rigid connector activity connect
Connect, before the third top and bottom end of electric pushrod respectively with rigid connector before rigid connector in the third and third
It is flexibly connected, rigidity after rigid connector and first is descended on the top and bottom end of electric pushrod with described first respectively after described first
Connector is flexibly connected, and rigid connector and second is descended with described second respectively in the top and bottom end of electric pushrod after described second
Rigid connector is flexibly connected afterwards, electric pushrod top before the pressure sensor on electric pushrod top, second before described first
Before pressure sensor, third after the pressure sensor on electric pushrod top, first pressure sensor on electric pushrod top and
After second the pressure sensor on electric pushrod top pass through flexural pivot respectively on rigid connector on corresponding first, second just
Property connector, rigid connector, the first lower rigid connector and the second lower rigid connector are flexibly connected in third.
One of preferably, the binding structure at the ankle and above ankle includes moccasin set and ties up
Band, the moccasin set are equipped with via hole, and the bandage passes through via hole and is strapped in moccasin set.
The utility model has the advantages that
The wearable ankle rehabilitation running gear of a kind of five degree of freedom provided by the utility model, the five degree of freedom of five bars driving
Mechanism, had not only met the therapeutic scheme of the rehabilitation training of different ankles, but also saved mechanical material and cost；In addition, this is practical
Novel to combine auxiliary walking with rehabilitation training function at ankle damage position, application range is wider；The utility model makes
Used time carries out rehabilitation training using the mode of teaching first, then by pushing away to another health tape when acquiring walking is dynamic
The situation of change of bar simultaneously carries out symmetrical analysis, and the robot of the utility model is enabled to give the damage ankle of patient to help
Power achievees the purpose that daily normal walking.To sum up, the utility model, which at least has, had both been able to satisfy different type ankle rehabilitation training
Variation freedom degree, be unlikely to cause the waste of mechanical material again, moreover it is possible to allow patient to carry out ankle rehabilitation training during treatment
The advantages that with auxiliary normal walking.
Detailed description of the invention
Fig. 1 is the schematic perspective view of one preferred embodiment of the utility model.
Fig. 2 is the forward sight structural schematic diagram of one preferred embodiment of the utility model.
Appended drawing reference:
1, rigid sole；2, fixes sleeve on shank；3, fixes sleeve under shank；4, binding structure；5, electronic before first
Push rod；6, electric pushrod before second；7, electric pushrod after first；8, electric pushrod after second；9, electric pushrod before third；10,
Rigid connector on first；11, rigid connector on second；12, rigid connector in third；13, the first lower rigid connector；
14, the second lower rigid connector；15, rigid connector before first；16, rigid connector before second；17, it is rigidly connected before third
Part；18, rigid connector after first；19, rigid connector after second.
Specific embodiment
The utility model is illustrated below with reference to specific embodiment:
A kind of wearable ankle rehabilitation running gear of five degree of freedom is suitable for left foot or right crus of diaphragm, it includes rigid sole
1, fixes sleeve 3 under fixes sleeve 2 and shank on shank, on the shank under fixes sleeve 2, shank fixes sleeve 3 and
The binding structure 4 for being coated on the flexible material of shank, ankle-joint and ankle and foot, the rigidity are connected between rigid sole 1
Electric pushrod 6, rigid sole 1 before electric pushrod 5 and second before 1 front end two sides of sole have been movably connected with telescopic first
Electric pushrod 8 after electric pushrod 7 and second after rear end sides have been movably connected with telescopic first, 1 front end of rigid sole
Top end is connected with electric pushrod 9 before third, 6 upper end of electric pushrod before 5 upper end of electric pushrod, second before described first,
8 upper end of electric pushrod is equipped with pressure sensing behind 7 upper end of electric pushrod and second after 9 upper end of electric pushrod, first before third
Device, the pressure sensor are connected by data collection system and computer control system control.Computer control system passes through
Pressure sensor acquisition data are simultaneously handled and are uploaded data by data stimulating system to computer control system, thus again by counting
It calculates machine control system and makes feedback, the power-assisted of auxiliary walking and supplemental training is provided.
One of preferably, 2 two sides of fixes sleeve are respectively equipped with rigid connector on first on the shank
Rigid connector 11 on 10 and second, the front side of fixes sleeve 2 is equipped with rigid connector 12 in third on the shank, described small
3 two sides of fixes sleeve are respectively equipped with the first lower rigid connector 13 and the second lower rigid connector 14, the rigid sole 1 under leg
Front end two sides be respectively equipped with first before rigid connector 16,1 front end of the rigid sole top before rigid connector 15 and second
End is equipped with rigid connector 17 before third, rigid connector 18 and the after 1 rear end sides of rigid sole are respectively equipped with first
Rigid connector 19 after two, before described first the top and bottom end of electric pushrod 5 respectively with described first on rigid connector 10
Rigid connector 15 is flexibly connected before with first, before described second the top and bottom end of electric pushrod 6 respectively with described second on
Rigid connector 16 is flexibly connected before rigid connector 11 and second, top and the bottom end difference of electric pushrod 9 before the third
It is flexibly connected with rigid connector 17 before rigid connector 12 in the third and third, the top of electric pushrod 7 after described first
End and bottom end are flexibly connected with rigid connector 18 after the described first lower rigid connector 13 and first respectively, electric after described second
The top and bottom end of dynamic push rod 8 are flexibly connected with rigid connector 19 after the described second lower rigid connector 14 and second respectively,
It is electric before the pressure sensor on 6 top of electric pushrod, third before the pressure sensor on 5 top of electric pushrod, second before described first
Electric pushrod 8 pushes up after the pressure sensor and second on 7 top of electric pushrod after the pressure sensor on dynamic 9 top of push rod, first
The pressure sensor at end pass through flexural pivot respectively with rigid connector 11, on rigid connector 10, second on corresponding first
The lower rigid connector 13 of rigid connector 12, first and the second lower rigid connector 14 are flexibly connected on three.
One of preferably, the binding structure 4 at the ankle and above ankle include moccasin set and
Bandage, the moccasin set are equipped with via hole, and the bandage passes through via hole and is strapped in moccasin set.
The working principle and step of the utility model are as follows:
(1) foot of patient is placed on the rigid sole 1, is tightened above rigid sole 1, at ankle and on ankle
The binding structure 4 of side；
(2) under rehabilitation training mode when, five electric pushrods enter random movement method, by doctor to the pars affecta of ankle part
Position carries out rehabilitation training, records the stroke and pressure direction and size that training Shi Wugen push rod changes by computer, then
Without doctor participate in, the time point set control the healing robot according to the stroke recorded independently to patient into
Row repeats rehabilitation training.
(3) under the mode of auxiliary walking, first being worn in the healing robot on unmarred foot, five are pushed away
Bar is set as follower model, by analyzing the flexible and time-varying situation of the Walking Mode and push rod that do not damage foot when on foot,
Parameter setting symmetrically is carried out to the healing robot of patient's wearing of damage ankle, makes the rehabilitation machine for being damaged ankle wearing
People enters assistant mode, and does not damage the asynchronous symmetrical variation of healing robot progress of ankle, carries out not damaging ankle
When stopping acts, the healing robot of damage ankle wearing also enters halted state, but five push rods still play a supportive role.
The above content is only the preferred embodiment of the utility model, for those of ordinary skill in the art, according to this reality
With novel thought, there will be changes in the specific implementation manner and application range, and the content of the present specification should not be construed as
Limitations of the present invention.
Claims (3)
1. a kind of wearable ankle rehabilitation running gear of five degree of freedom is suitable for left foot or right crus of diaphragm, it is characterised in that: it includes
Fixes sleeve under fixes sleeve and shank on rigid sole, shank, on the shank under fixes sleeve, shank fixes sleeve with
And the binding structure for being coated on the flexible material of shank, ankle-joint and ankle and foot is connected between rigid sole, the rigidity
Electric pushrod, rigid sole rear end before electric pushrod and second before sole front end two sides have been movably connected with telescopic first
Electric pushrod after electric pushrod and second after two sides have been movably connected with telescopic first, rigid sole front end top end are living
It is dynamic to be connected with electric pushrod before third, it is electronic before electric pushrod upper end, third before electric pushrod upper end, second before described first to push away
Electric pushrod upper end is equipped with pressure sensor, the pressure sensing behind electric pushrod upper end and second after bar upper end, first
Device is connected by data collection system and computer control system control.
2. the wearable ankle rehabilitation running gear of a kind of five degree of freedom according to claim 1, it is characterised in that: described small
Fixes sleeve two sides are respectively equipped on first rigid connector on rigid connector and second, fixes sleeve on the shank on leg
Front side be equipped with rigid connector in third, fixes sleeve two sides are respectively equipped with the first lower rigid connector and the under the shank
Two lower rigid connectors, are rigidly connected before rigid connector and second before the front end two sides of the rigid sole are respectively equipped with first
Part, rigid sole front end top are equipped with rigid connector before third, and the rigid sole rear end sides are respectively equipped with first
Rigid connector after rigid connector and second afterwards, before described first the top and bottom end of electric pushrod respectively with described first on
Rigid connector is flexibly connected before rigid connector and first, before described second the top and bottom end of electric pushrod respectively with it is described
Rigid connector is flexibly connected before rigid connector and second on second, top and the bottom end difference of electric pushrod before the third
It is flexibly connected with rigid connector before rigid connector in the third and third, the top and bottom of electric pushrod after described first
End is flexibly connected with rigid connector after the described first lower rigid connector and first respectively, the top of electric pushrod after described second
End and bottom end are flexibly connected with rigid connector after the described second lower rigid connector and second respectively, electronic before described first to push away
The pressure on electric pushrod top passes before the pressure sensor on electric pushrod top, third before the pressure sensor on bar top, second
The pressure sensor on electric pushrod top passes through ball after the pressure sensor on electric pushrod top and second after sensor, first
Hinge connects with rigid connector, the first lower rigidity in rigid connector on rigid connector on corresponding first, second, third respectively
Fitting and the second lower rigid connector are flexibly connected.
3. the wearable ankle rehabilitation running gear of a kind of five degree of freedom according to claim 1, it is characterised in that: the foot
Binding structure at ankle and above ankle includes moccasin set and bandage, and the moccasin set is equipped with via hole, and the bandage is worn
Via hole is strapped in moccasin set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820501841.4U CN209107991U (en) | 2018-04-10 | 2018-04-10 | A kind of wearable ankle rehabilitation running gear of five degree of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820501841.4U CN209107991U (en) | 2018-04-10 | 2018-04-10 | A kind of wearable ankle rehabilitation running gear of five degree of freedom |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209107991U true CN209107991U (en) | 2019-07-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820501841.4U Expired - Fee Related CN209107991U (en) | 2018-04-10 | 2018-04-10 | A kind of wearable ankle rehabilitation running gear of five degree of freedom |
Country Status (1)
| Country | Link |
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| CN (1) | CN209107991U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11148279B1 (en) | 2020-06-04 | 2021-10-19 | Dephy, Inc. | Customized configuration for an exoskeleton controller |
| US11173093B1 (en) | 2020-09-16 | 2021-11-16 | Dephy, Inc. | Systems and methods for an active exoskeleton with local battery |
| US11298287B2 (en) | 2020-06-02 | 2022-04-12 | Dephy, Inc. | Systems and methods for a compressed controller for an active exoskeleton |
| US11389367B2 (en) | 2020-06-05 | 2022-07-19 | Dephy, Inc. | Real-time feedback-based optimization of an exoskeleton |
| US11944581B2 (en) | 2020-06-04 | 2024-04-02 | Dephy, Inc. | Systems and methods for bilateral wireless communication |
-
2018
- 2018-04-10 CN CN201820501841.4U patent/CN209107991U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11298287B2 (en) | 2020-06-02 | 2022-04-12 | Dephy, Inc. | Systems and methods for a compressed controller for an active exoskeleton |
| US11148279B1 (en) | 2020-06-04 | 2021-10-19 | Dephy, Inc. | Customized configuration for an exoskeleton controller |
| US11738450B2 (en) | 2020-06-04 | 2023-08-29 | Dephy, Inc. | Customized configuration for an exoskeleton controller |
| US11944581B2 (en) | 2020-06-04 | 2024-04-02 | Dephy, Inc. | Systems and methods for bilateral wireless communication |
| US11389367B2 (en) | 2020-06-05 | 2022-07-19 | Dephy, Inc. | Real-time feedback-based optimization of an exoskeleton |
| US11918536B2 (en) | 2020-06-05 | 2024-03-05 | Dephy, Inc. | Real-time feedback-based optimization of an exoskeleton |
| US11173093B1 (en) | 2020-09-16 | 2021-11-16 | Dephy, Inc. | Systems and methods for an active exoskeleton with local battery |
| US11752061B2 (en) | 2020-09-16 | 2023-09-12 | Dephy, Inc. | Systems and methods for an active exoskeleton with local battery |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190716 Termination date: 20200410 |
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| CF01 | Termination of patent right due to non-payment of annual fee |