CN110613582B - Rehabilitation training device and training method for promoting movement function of ankle knee joint of general lower limb - Google Patents
Rehabilitation training device and training method for promoting movement function of ankle knee joint of general lower limb Download PDFInfo
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- CN110613582B CN110613582B CN201910997005.9A CN201910997005A CN110613582B CN 110613582 B CN110613582 B CN 110613582B CN 201910997005 A CN201910997005 A CN 201910997005A CN 110613582 B CN110613582 B CN 110613582B
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- 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
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
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- 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
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/02—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
- A61N1/36003—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation of motor muscles, e.g. for walking assistance
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/04—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable multiple steps, i.e. more than one step per limb, e.g. steps mounted on endless loops, endless ladders
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- 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
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- 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
- A61H2201/01—Constructive details
- A61H2201/0173—Means for preventing injuries
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- 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
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- 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
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- 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
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
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Abstract
The invention discloses a rehabilitation training device and a training method for promoting movement functions of ankle and knee joints of general lower limbs, wherein the ankle joints of the lower limbs are bent forward in sitting postures or supine postures by applying rapid acceleration passive plantarflexion based on heel up-down rotation, so that the target dorsiflexor muscle (anterior tibial muscle) stretches, the dorsiflexor muscle tension is increased to immediately cause dorsiflexion movement, and then the active target random dorsiflexion movement of a patient is induced and the active knee bending of the knee joints is driven, so that stimulation is applied to nerve loops related to dorsiflexion movement, and the effect of promoting the passage of the target nerve loops is achieved through repeated training; the ankle joint dorsi-extension movement and the knee bending movement are induced based on the heel up-down rotation movement, so that the rehabilitation effect of inducing the target random dorsi-extension movement, the knee bending movement and the repeated training is achieved.
Description
Technical field:
the invention relates to a rehabilitation training device and a training method for promoting movement functions of ankle and knee joints of general lower limbs.
The background technology is as follows:
the aggravation of social aging and the increase of the incidence rate of cerebral apoplexy make cerebral apoplexy a primary cause of limb disability of the elderly. Because the central nervous system is damaged, cerebral apoplexy patients can be accompanied with sequelae such as hemiplegia, motor function deficiency and the like after the acute stage, and heavy burden is brought to individuals, families and society of the patients. Clinical practice of rehabilitation medicine shows that the rehabilitation of limb functions can be carried out as early as possible after the condition is stable due to the existence of nerve plasticity, and the rehabilitation degree of the motor functions of a patient can be obviously improved by repeatedly training the rehabilitation device. Therefore, rehabilitation becomes an important link in the treatment process of cerebral apoplexy patients.
Traditional rehabilitation is mainly trained one-to-one by a therapist in a way of handles, time and effort are consumed in the mode, and the training effect is easily influenced by subjective factors of the therapist. At present, the very short rehabilitation medical resources in China are difficult to meet the treatment requirements of a large number of patients. The robot technology is applied to the rehabilitation field, the rehabilitation robot is utilized for auxiliary treatment, the potential of improving rehabilitation training efficiency and improving rehabilitation effect is provided, and the contradiction between medical resource shortage of rehabilitation is expected to be effectively relieved.
Lokomat developed by the Federal administration institute of Zurich, switzerland is a typical representative of lower limb rehabilitation robots, which is an exoskeleton robot system, and is widely used in rehabilitation clinic. Although Lokoma is driven by mechanical legs, it can provide natural, repetitive and motivational gait training for patients, but it is expensive and cannot perform rehabilitation training of a single joint. The LokoHelp et al end type lower limb rehabilitation robot is relatively simple in structure but still aims at whole gait training.
The lower limb joint CPM (Continuous Passive Motion) rehabilitation device commonly used clinically at present achieves the effects of preventing joint adhesion, muscle atrophy and arthritis through continuous passive movement of patients, and lacks active participation of the patients. While rehabilitation clinical studies indicate that rehabilitation training actively participated by patients according to exercise intention can help neural circuit to promote and exercise function to recover.
Because of the complexity of walking gait, rehabilitation training of a single joint is an indispensable treatment link for a hemiplegia patient with apoplexy. At present, a lower limb ankle knee joint movement function rehabilitation training device and method which enable patients to actively participate in and are beneficial to nerve circuit reconstruction do not exist, and the requirements of clinical rehabilitation can be met.
The invention comprises the following steps:
the invention aims to solve the problems in the prior art and provides a rehabilitation training device and a training method for promoting the movement function of ankle knee joints of lower limbs.
The invention adopts the technical scheme that:
the invention relates to a training method of a rehabilitation training device for promoting movement functions of ankle and knee joints of general lower limbs, which comprises the following functions:
passive flexion and extension of ankle and knee flexion: applying external rotary motion to the foot pedal of the device, applying external rotary motion taking the heel as the rotation center to the hemiplegic ankle joint of the lower limb of the sitting posture or supine posture with the foot pedal to enable the foot pedal to passively plantarflex or dorsiflex, and driving the knee joint to extend or bend the knee;
motor-assisted stimulation of active dorsi-extension and active flexion: applying a promoting stimulus for inducing active movement to hemiplegia ankle joints of lower limbs of a sitting posture or supine posture with forward extension microknee, so that the hemiplegia ankle joints can generate active dorsi extension of autonomous intention and drive the knee joints to actively bend the knee;
active assisting active dorsi extension and active knee bending movement: by sensing the active movement intention of the hemiplegia ankle joint, the active power assisting for the autonomous dorsiflexion movement of the hemiplegia ankle joint is implemented, and the active knee bending movement of the knee joint is assisted.
Further, the external rotation speed from the low speed in the first stage and the high speed in the second stage is rapidly accelerated from the low to the high speed in the outer rotation speed in the first stage to apply the hemiplegic ankle joint of the lower limb of the sitting posture or supine posture forward extension micro-knee flexion to perform the promoting stimulus to induce the hemiplegic ankle joint to generate the active dorsum of the voluntary will and the active flexion of the knee joint.
The utility model provides a promote general formula low limbs ankle knee joint motion function rehabilitation training device, includes training platform host computer, controller and system software, training platform host computer and controller electric connection, system software cooperates with the controller;
the training platform host comprises a base, a pedal rotation angle limiting mechanism and a driving shaft provided with a torsion sensor, wherein the pedal taking a heel as a rotation center is fixed on the driving shaft, the driving shaft is connected with a driving motor fixed on the base, the driving motor drives the driving shaft to rotate, so that the pedal can rotate back and forth around the heel rotation center, and the pedal rotation angle limiting mechanism is connected on the base to limit the rotation angle of the pedal.
Further, the driving motor on the base is a servo motor, and an encoder is arranged at the rear end of the servo motor.
Further, the pedal plate is provided with an LED lamp and a buzzer.
Furthermore, the pedals and the outer shell in the base are respectively provided with a stimulation interface, and the vibration stimulator or the electric stimulation electrode fixed on the leg of the patient is connected with the controller through the stimulation interfaces.
Further, the controller comprises a computer, a power supply module, a main control circuit module and a motor driving module, wherein the computer runs the system software and provides an operation interface for a user through a touch screen; the main control circuit module is used for processing the signals of the torsion sensor, controlling the vibration stimulator, controlling the buzzer and controlling the LED lamp; the power module and the motor driving module respectively provide driving power and rotation speed control for the motor.
Further, the system software comprises two functions of driving shaft motion control and user operation interaction interface.
Further, the driving shaft motion control means that the rotation direction and the rotation speed of the driving shaft are controlled according to a set control algorithm according to the training mode and the detection information of the torsion sensor.
Further, the user-operated interactive interface includes patient information input and management, training mode and parameter settings, exercise analysis and assessment, and control parameter settings.
The invention has the following beneficial effects:
1) The hemiplegia patient, especially early-stage patient, almost completely loses the back extension function of the active ankle joint, and is difficult to actively generate back extension action to participate in rehabilitation training according to own will;
the invention has the functions of passive plantarflexion and dorsiflexion: the external rotation motion around the heel is applied to the hemiplegic ankle joint of the lower limb which stretches slightly in the forward direction in the sitting posture or the supine posture to lead the passive plantar flexion or dorsiflexion and drive the active knee flexion of the knee joint;
the invention has the function of active dorsi-extension movement promoting stimulation: applying a promoting stimulus for inducing active movement to hemiplegia ankle joints of lower limbs of a sitting posture or supine posture forward extension microknee to enable the hemiplegia ankle joints to generate active dorsum extension of autonomous intention; the active dorsi extension is to apply a rapid acceleration of passive plantarflexion movement from low to high external velocity at a first stage low velocity (first uniform velocity zone) and high external velocity at a second stage high velocity (acceleration zone) to the hemiplegic ankle joint, so as to implement a promoting stimulus to induce the hemiplegic ankle joint to produce active dorsi extension of autonomous will and drive the active knee flexion of the knee joint.
The invention has the functions of active auxiliary active dorsi-extension movement and active knee bending, and the torque change in the reciprocating movement process of the pedal is judged by the torque sensor so as to obtain the active movement intention of the hemiplegic ankle joint. If the torque of the torsion sensor is large, the active consciousness of the hemiplegia ankle joint is strong, the acting force of the driving motor is increased, the active power assisting for the autonomous dorsiflexion movement of the hemiplegia ankle joint is implemented, and the active knee bending of the knee joint is assisted to be driven.
2) The angle limiting units are mechanically linked, the structure is convenient to adjust, the angle limiting units at the upper swing limit position and the lower swing limit position of the pedal are independent units, the use is flexible, the independent adjustment and control can be realized, and the use and the convenience are realized;
the trainees of different disability degrees and different rehabilitation stages have different ankle joint degrees of activity, namely ankle joint dorsiflexion and toe bending angles are different, in order to avoid program runaway to cause excessive rotation, an angle limiting unit is arranged, the ankle joint degree of activity of the trainee is measured before training, the limiting angle of a limiting arm is adjusted by moving the position of a sliding block, and the limiting arm limits the rotating angle of a rotating arm within a certain range.
3) The foot plate in the foot pedal is of a separable structure, and when the foot pedal is used, the separated foot plate can be bound on the foot of a trainee in advance, so that the foot of the trainee is prevented from being directly fixed in the device, and the pain of a patient is reduced.
Description of the drawings:
fig. 1 is a structural diagram of the present invention.
Fig. 2, 3, 4, 5 and 6 are angle limiting block diagrams for limiting the foot pedal beyond a set range of motion in the configuration of fig. 1.
Fig. 7 and 8 are diagrams showing the operation of the angle limiting structure for limiting the pedal beyond the set range of motion in the present invention.
Fig. 9, 10 and 11 are block diagrams illustrating the separation of the footrests in the configuration of fig. 1.
The specific embodiment is as follows:
the invention is further described below with reference to the accompanying drawings.
Example 1:
the training method of the rehabilitation training device for promoting the movement function of the ankle and the knee of the general type lower limb can enable the ankle joint and the knee joint to bend and rotate (namely, the plantar flexion and dorsiflexion rotation of the ankle joint and the extension and flexion rotation of the knee joint) under the state of sitting posture and the state that the lower limb is close to extension, and has the following functions:
passive flexion and extension of ankle and knee flexion: the external rotation motion taking the heel as the rotation center is applied to the hemiplegic ankle joint of the lower limb which stretches slightly in the sitting posture or supine posture to lead the ankle joint to bend passively in the plantar flexion or dorsiflexion, and the knee joint is driven to stretch or bend the knee;
motor-assisted stimulation of active dorsi-extension and active flexion: applying a promoting stimulus for inducing active movement to hemiplegia ankle joints of lower limbs of a sitting posture or supine posture with forward extension microknee, so that the hemiplegia ankle joints can generate active dorsi extension of autonomous intention and drive the knee joints to actively bend the knee;
the active knee bending process comprises the following steps: the external rotation speed of the first stage low speed and the second stage high speed, which takes the heel as the rotation center, is applied to the hemiplegic ankle joint of a trained person, and the passive plantarflexion movement is rapidly accelerated from the low stage to the high stage, so that the activation stimulus is implemented to induce the hemiplegic ankle joint to generate the active dorsi extension of the autonomous volition and the active knee flexion of the knee joint.
Active assisting active dorsi extension and active knee bending movement: by sensing the active movement intention of the hemiplegia ankle joint, the active power assisting for the autonomous dorsiflexion movement of the hemiplegia ankle joint is implemented, and the active knee bending movement of the knee joint is assisted.
The torque sensor is used for judging the torque change in the reciprocating motion process of the pedal, so that the active motion intention of the hemiplegia ankle joint is obtained. If the torque of the torque sensor is large, the active consciousness of the hemiplegia ankle joint is strong, the acting force of the driving motor 12 is increased, the active power assisting for the autonomous dorsiflexion movement of the hemiplegia ankle joint is implemented, and the active knee bending of the knee joint is assisted to be driven.
The invention relates to a rehabilitation training device for promoting movement functions of ankle and knee joints of general lower limbs, which comprises a training platform host, a controller and system software, wherein the training platform host is electrically connected with the controller, and the system software is matched with the controller.
The training platform host comprises a base, a pedal rotation angle limiting mechanism and a driving shaft provided with a torsion sensor, wherein the pedal taking a heel as a rotation center is fixed on the driving shaft, the driving shaft is connected with a driving motor fixed on the base, the driving motor drives the driving shaft to rotate, so that the pedal can rotate back and forth around the heel rotation center, and the pedal rotation angle limiting mechanism is connected on the base to limit the rotation angle of the pedal.
The driving motor on the base is a servo motor, the rear end of the servo motor is provided with an encoder, and the pedal is provided with an LED lamp and a buzzer.
The shell in the foot pedal and the base are provided with a stimulation interface, and a vibration stimulator or an electric stimulation electrode fixed on the leg of the patient is connected with the controller through the stimulation interface.
The controller comprises a computer, a power supply module, a main control circuit module and a motor driving module, wherein the computer runs the system software and provides an operation interface for a user through a touch screen; the main control circuit module is used for processing the signals of the torsion sensor, controlling the vibration stimulator, controlling the buzzer and controlling the LED lamp; the power module and the motor driving module respectively provide driving power and rotation speed control for the motor.
The system software comprises two functions of driving shaft motion control and user operation interaction interface. Wherein:
the driving shaft motion control means that the rotation direction and the rotation speed of the driving shaft are controlled according to a set control algorithm according to the training mode and the detection information of the torsion sensor. The user operation interaction interface comprises patient information input and management, training mode and parameter setting, movement analysis and evaluation and control parameter setting.
Example 2:
the present invention provides a specific mechanical structure for performing the actions of the functions in the training device, and the specific structure is described below.
Referring to fig. 1 and 2, the rehabilitation training device for promoting the movement of ankle and knee joints of lower limbs according to the present invention comprises a foot pedal 21, a driving motor 12 and a driving shaft 13 provided with a torsion sensor 14, wherein the driving motor 12 is connected with the driving shaft 13, the driving shaft 13 is connected with the foot pedal 21, and the driving motor 12 drives the foot pedal 21 to reciprocate and assist a trainee to reciprocate with the heel of the trainee as a rotation center.
The pedal rotation angle limiting mechanism 2 includes a limiting shaft 31, a slider 34, a slide table 35, a connecting block 36, a rotating arm 32 provided with a rotating surface 321, and a limiting arm 33 provided with a limiting surface 331.
The base 11 is provided with two fixing frames 110, the driving shaft 13 and the limiting shaft 31 are correspondingly connected to the two fixing frames 110 in a rotating way through bearings, the driving shaft 13 and the limiting shaft 31 are horizontally and coaxially arranged, and when the driving shaft 13 and the limiting shaft 31 work, the driving shaft rotates around an axis 200 in the axial direction.
The driving shaft 13 and the limiting shaft 31 are respectively arranged at two sides of the pedal plate 21 and connected with the pedal plate 21, the two rotating arms 32 are fixed at two ends of the limiting shaft 31, and the rotating surfaces 321 on the two rotating arms 32 are staggered. The two limiting arms 33 are respectively disposed at the inner sides of the rotating arms 32, and the two limiting arms 33 are rotatably connected to the limiting shaft 31 through bearings. The stop surface 331 on the stop arm 33 is in the rotational path of the rotational surface 321 on the corresponding side rotational arm 32 about the axis 200.
The sliding table 35 is fixed on the fixed frame 110 and horizontally arranged below the limiting shaft 31, the sliding table 35 is positioned between the two limiting arms 33, the two sliding blocks 34 are arranged in parallel, the two sliding blocks 34 are fixed on different positions of the sliding table 35 along the sliding direction through sliding, the two connecting blocks 36 are respectively connected with one limiting arm 33 in a sliding manner, and the two connecting blocks 36 are respectively hinged with the sliding blocks 34 on the corresponding sides correspondingly.
The two sliding blocks 34 at different positions in the sliding direction of the sliding table 35 are respectively driven by the connecting blocks 36 and the limiting arms 33 at corresponding sides, and the limiting surfaces 331 on the limiting arms 33 are positioned at different circumferential positions when the rotating surfaces 321 rotate, the driving motor 12 drives the driving shaft 13 to rotate, and the driving shaft 13 drives the pedal plate 21 to swing around the axis 200 within the range of the two different circumferential positions.
Referring to fig. 3 to 6, two rails 351 arranged parallel to each other are provided on the slide table 35, the two rails 351 realize sliding of the two sliding blocks 34, and the direction of the rails 351 is the sliding direction of the sliding blocks 34.
The axes of the rail 351 and the limiting shaft 31 are mutually perpendicular, the two sliding blocks 34 are correspondingly and slidably connected to the two rails 351, and the sliding blocks 34 are fixed at different positions of the rails 351 through sliding.
After the sliding block 34 slides to a proper position, in order to fix the position of the sliding block 34 conveniently, a locking block 343 is inserted on the sliding block 34, the locking block 343 is of an H-shaped structure, a clamping groove at the upper end of the locking block 343 is clamped with the sliding block 34, a clamping groove at the lower end of the locking block 343 is slidably connected on the track 351, a locking screw 344 is connected on the sliding block 34 in a threaded manner, the locking screw 344 penetrates through the sliding block 34 and abuts against the locking block 343, and the locking block 343 abuts against the track 351. The position of the slider 34 on the track 351 can be adjusted by loosening the locking screw 344.
To facilitate the installation of the connection blocks 36, a fixing plate 345 is fixed to the outer side surface of each slider 34, the fixing plates 345 are vertically arranged, and the connection blocks 36 are hinged to the outer end surfaces of the fixing plates 345.
The connecting block 36 is provided with a sliding groove 368, the limiting arm 33 is provided with a sliding rib 338, and the sliding rib 338 is inserted into the sliding groove 368 to realize sliding connection between the limiting arm 33 and the connecting block 36.
The rotating arm 32 has a circular block structure, and a fixing hole is provided in the circular direction of the rotating arm 32, and is fixedly connected with the limiting shaft 31. A rectangular projection 320 is provided on the outer circumferential wall of the rotating arm 32, and one end surface of the projection 320 forms a rotating surface 321. After the two rotating arms 32 are fixed on the limiting shaft 31, the protruding blocks 320 on the two rotating arms 32 are staggered.
The limiting arm 33 is in a bar-shaped plate structure, a limiting block 330 perpendicular to the limiting arm 33 is arranged on the limiting arm 33, the limiting block 330 is in a rectangular structure, and a side surface, opposite to the rotating surface 321 in the protruding block 320, of the limiting block 330 is a limiting surface 331.
When the foot pedal 21 is used, the driving shaft 13 and the limiting shaft 31 can be directly and fixedly connected with the foot pedal 21 through the two clamping seats 52, the driving shaft 13 is directly connected with the foot pedal 21 through the clamping seats 52, when the foot pedal 21 reciprocates, the heel of a trainee is coaxial with the rotation center of the foot pedal 21, and the trainee can passively plantarly bend or dorsiflex by applying external rotation motion taking the heel as the rotation center to the hemiplegic ankle joint of the trainee, and the knee joint is driven to stretch or bend.
The rotating arm 32 and the limiting arm 33 together form an angle limiting unit 300 in the invention, the two angle limiting units 300 form a limiting area, the angle limiting unit 300 plays a role in safety protection, and the pedal plate 21 is prevented from exceeding the limiting area to cause secondary injury to patients.
As shown in fig. 7 and 8, the angle limiting unit 300 in the present invention is implemented by mechanical linkage, that is, when the limit position of the upper swing or the lower swing of the pedal needs to be adjusted, only the sliding block 34 at the corresponding position needs to be slid, the sliding block 34 drives the connecting block 36 to rotate during sliding, and the connecting block 36 drives the limiting arm 33 to rotate during rotating, so as to finally implement the position change of the limiting surface 331 on the limiting arm 33. The adjustment of the angle limiting units 300 at the upper swing limit position and the lower swing limit position is a unit independent from each other, and the device is flexible in use, can be independently adjusted and controlled, and is convenient to use.
Example 3
As shown in fig. 9-11, this embodiment provides a configuration for a detachable foot pedal in the device. The pedal plate 21 comprises a bottom plate 211, a foot plate 212 and a latch 213, wherein the bottom plate 211 is fixed on the upper end surface of the lower clamping plate 522 through screws, a slot is formed between the upper end surface of the bottom plate 211 and the lower end surface of the upper clamping plate 521, the latch 213 is fixed on the top end of the upper end surface of the bottom plate 211, the foot plate 212 is inserted into the slot, and the foot plate 212 is fixed on the bottom plate 211 through the latch 213.
The foot plate 212 of the foot rest 21 is of a detachable structure, and when in use, the foot plate 212 is fixed on the foot of a trainee through magic tapes and the like, then the foot plate 212 is pushed into a fixed position, and the foot plate 212 is fixed on the bottom plate 211 through upper clamping plates 521 (the upper clamping plates are fixed with the foot plates through screws) on two sides and a locking 213 at the top end. The catch 213 can be unlocked by manually pressing a button. The foot plate 212 can be separated and can be bound on the foot of the trainee in advance, so that the foot of the trainee is prevented from being directly fixed in the device, and the pain of a patient is reduced.
The structure of the latch 213 in the present invention is: the lock comprises a shell 2131, a lock rod 2132, a pressing block 2133 and a spring, wherein the shell 2131 is of a rectangular structure, two insertion holes are formed in the upper end face of the shell 2131, the bottom ends of the insertion holes extend onto the lower end face of the shell 2131, a switch hole is formed in the end face of the left side and the right side of the shell 2131, and the switch hole is communicated with the insertion hole.
The lock rod 2132 is inserted into the insertion hole, and the lower end of the lock rod 2132 extends out of the shell 2131. The lock rod 2132 is provided with a step surface, the spring is sleeved on the lock rod 2132, the upper end surface of the spring is abutted against the inner wall of the jack, and the lower end surface is abutted against the step surface of the lock rod 2132.
A toggle groove 2134 is arranged on the lock rod 2132, a wedge-shaped surface 2135 is arranged on the pressing block 2133, the pressing block 2133 is inserted into the switch hole, the wedge-shaped surface 2135 on the pressing block 2133 corresponds to the toggle groove 2134, the pressing block 2133 is pressed inwards, the lock rod 2132 moves upwards, and the lower end of the lock rod 2132 is accommodated in the jack.
In order to position the pressing block 2133 in the switch hole, a waist-shaped groove is arranged on the pressing block 2133, a limiting pin is arranged in the switch hole, and the limiting pin is inserted in the waist-shaped groove.
The latch 213 is fixed on the bottom plate 211 by angle steel, a lock hole is arranged on the foot plate 212, and a lock rod 2132 in the latch 213 is inserted into the lock hole.
In order to better support the foot of the trainee, a heel support block 214 is provided at the bottom end of the upper end surface of the foot plate 212.
Example 4:
one support shaft 61 is provided on the rear side of the drive shaft 13 and the stopper shaft 31, and the two support shafts 61 are coaxially provided and are disposed at the same height as the drive shaft 13 and the stopper shaft 31.
When the training gap is required to support the foot pedal 21, the two support shafts 61 extend, and the top end of the foot pedal 21 is supported on the support shafts 61 for supporting the foot pedal 21. The support shaft 61 can share the torque of the foot weight to the driving motor 12, preventing the dorsiflexion muscle of the ankle joint of the trainee from being in a stretched state at all times.
The foregoing is merely a preferred embodiment of the invention, and it should be noted that modifications could be made by those skilled in the art without departing from the principles of the invention, which modifications would also be considered to be within the scope of the invention.
Claims (8)
1. The utility model provides a promote general low limbs ankle joint motion function rehabilitation training device which characterized in that: the device comprises a training platform host, a controller, system software and a vibration stimulator or an electric stimulation electrode, wherein the training platform host is electrically connected with the controller, and the system software is matched with the controller;
the training platform host comprises a base, a pedal rotation angle limiting mechanism, a pedal taking a heel as a rotation center and a driving shaft provided with a torsion sensor, wherein the pedal taking the heel as the rotation center is fixed on the driving shaft, the driving shaft is connected with a driving motor fixed on the base, the driving motor drives the driving shaft to rotate so that the pedal can rotate back and forth around the heel rotation center, and the pedal rotation angle limiting mechanism is connected on the base to limit the rotation angle of the pedal;
applying external rotary motion to the foot pedal, so that the foot pedal takes the heel as a rotation center, and the passive plantarflexion or dorsiflexion of the ankle joint is realized, and the passive knee extension or flexion of the knee joint is driven;
in the reciprocating process of the foot pedal, applying external rotation speeds of low speed in a first stage and high speed in a second stage to accelerate passive plantarflexion movement from low to high in the external rotation speeds in the first stage to the hemiplegic ankle joint of the lower limb of the sitting posture or supine posture extending slightly to the front of the knee through the foot pedal so as to induce the movement accelerated general stimulation of the hemiplegic ankle joint to generate active dorsum extension of the autonomous will and to induce the active knee flexion of the knee joint, and inducing the active dorsum extension and the active knee flexion by the general stimulation of a vibration stimulator or an electric stimulation electrode;
the torsion sensor senses the active movement intention of the hemiplegia ankle joint, and implements the pedal plate active power assisting assistance of the autonomous dorsiflexion movement of the hemiplegia ankle joint and assists the active knee bending movement of the knee joint;
the pedal rotating angle limiting mechanism comprises a limiting shaft (31), sliding blocks (34), sliding tables (35), connecting blocks (36), rotating arms (32) with rotating surfaces (321) and limiting arms (33) with limiting surfaces (331), wherein the driving shaft (13) and the limiting shafts (31) are coaxially arranged on two sides of the pedal (21) and are connected with the pedal (21), the two rotating arms (32) are fixed on the limiting shafts (31), the two limiting arms (33) are respectively arranged on one side of each rotating arm (32) and are rotationally connected with the limiting shafts (31), the limiting surfaces (331) are positioned on a rotating path of the rotating surfaces (321) on the rotating arms (32) rotating around the axis, the sliding tables (35) are horizontally arranged below the limiting shafts (31) and between the two limiting arms (33), the two sliding blocks (34) are arranged in parallel, and are respectively connected with one limiting arm (33) in a sliding manner and are hinged with the corresponding sliding blocks (34) through sliding and are fixed on different positions of the sliding tables (35) along the sliding direction; the two sliding blocks (34) at different positions enable the limiting surface (331) on the limiting arm (33) to be positioned at different circumferential positions when the rotating surface (321) rotates through the transmission of the corresponding connecting block (36) and the limiting arm (33), and the driving shaft (13) drives the pedal (21) to swing around the axis within the range of the two different circumferential positions.
2. The rehabilitation training device for promoting the movement of ankle and knee joints of lower limbs according to claim 1, wherein: the driving motor on the base is a servo motor, and the rear end of the servo motor is provided with an encoder for sensing the acceleration, the speed and the angle of the rotary motion.
3. The rehabilitation training device for promoting the movement of ankle and knee joints of lower limbs according to claim 1, wherein: and the pedal is provided with an LED lamp and a buzzer for promoting stimulation.
4. A rehabilitation training device for promoting ankle knee joint movement of lower limbs according to claim 3, wherein: the shell in the foot pedal and the base are provided with a stimulation interface, and the stimulation interface is used for promoting the stimulation of the vibration stimulator or the electric stimulation electrode fixed on the leg of the patient and is connected with the controller.
5. The rehabilitation training device for promoting the movement of ankle and knee joints of lower limbs according to claim 4, wherein: the controller comprises a computer, a power supply module, a main control circuit module and a motor driving module, wherein the computer runs the system software and provides an operation interface for a user through a touch screen; the main control circuit module is used for processing the signals of the torsion sensor, controlling the vibration stimulator, controlling the buzzer and controlling the LED lamp; the power module and the motor driving module respectively provide driving power and rotation speed control for the motor.
6. The rehabilitation training device for promoting the movement of ankle and knee joints of lower limbs according to claim 1, wherein: the system software comprises two functions of driving shaft motion control and a user operation interaction interface.
7. The rehabilitation training device for promoting the movement of ankle and knee joints of lower limbs according to claim 6, wherein: the driving shaft motion control means that the rotation direction and the rotation speed of the driving shaft are controlled according to a set control algorithm and according to the training mode, the torque sensor and the perceived motion information of the encoder.
8. The rehabilitation training device for promoting the movement of ankle and knee joints of lower limbs according to claim 6, wherein: the user operation interaction interface comprises patient information input and management, training mode and parameter setting, exercise analysis and evaluation and control parameter setting.
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