CN113749612B

CN113749612B - Ankle joint evaluation device, apparatus, system, method, and storage medium

Info

Publication number: CN113749612B
Application number: CN202010488928.4A
Authority: CN
Inventors: 潘钰; 杨绯; 吴琼; 李欣; 徐泉; 王卫卫; 余杰华; 祝剑虹
Original assignee: Beijing Ltk Medical Technology Co ltd; Beijing Ltk Technology Co ltd; Hangzhou Extreme Medical Tech Co ltd; Beijing Tsinghua Changgeng Hospital
Current assignee: Beijing Ltk Medical Technology Co ltd; Beijing Ltk Technology Co ltd; Hangzhou Extreme Medical Tech Co ltd; Beijing Tsinghua Changgeng Hospital
Priority date: 2020-06-02
Filing date: 2020-06-02
Publication date: 2024-03-26
Anticipated expiration: 2040-06-02
Also published as: CN113749612A

Abstract

The invention provides an ankle joint evaluation device, equipment, a system, a method and a storage medium. The device comprises: a foot adapter for securing a foot of a subject; the driving device is provided with an output shaft, the foot adapter is connected with the output shaft, the driving device can drive the foot adapter to rotate by driving the output shaft to rotate, and when the foot of the subject is fixed on the foot adapter, the outer malleolus of the subject is aligned with the axis of the output shaft; the signal acquisition module comprises a position sensor and a torque sensor, wherein the position sensor is used for detecting the angle position of the foot of the subject, and the torque sensor is used for detecting the torque generated by the foot motion of the subject on the output shaft; and the processing device is connected with the signal acquisition module in a communication way and is used for receiving the position information and the moment information and calculating the rigidity of the ankle joint based on the position information and the moment information when the foot of the subject rotates within a preset angle range. Realizing the automatic quantitative evaluation of the rigidity of the ankle joint.

Description

Ankle joint evaluation device, apparatus, system, method, and storage medium

Technical Field

The present invention relates to the field of medical devices, and in particular, to an ankle joint evaluation device, apparatus, system, method, and storage medium.

Background

The ankle joint is one of important bearing joints of a human body and plays an important role in movement. Ankle sprains are one of the most common sports injuries, leading to pain, swelling in the local joints, and a significant risk to various activity and sports participants. Proprioception of the ankle is an important indicator in consideration of ankle function. Proprioception refers to the sensation that the motor organs such as muscles, tendons, joints, etc. produce by themselves in different states (movement or rest) (e.g., a person can perceive the position of parts of the body when the eye is closed), and can be understood as deep sensations such as position, movement and vibration.

The ankle joint training devices (constant speed training devices, ankle joint robots and the like) in the existing market are mostly training systems, and lack quantitative evaluation means for the rigidity of the ankle joint. In addition, current ankle joint training equipment is when measuring the moment, mainly measures through constant speed instrument, needs artifical manual correction joint position, and this makes the ankle joint position be difficult to accurate correction, and wastes time and energy.

Disclosure of Invention

In order to at least partially solve the problems in the prior art, an ankle joint evaluation device, apparatus, system, method, and storage medium are provided.

According to an aspect of the present invention, there is provided an ankle joint evaluation device including: a foot adapter for securing a foot of a subject; the driving device is provided with an output shaft, the foot adapter is connected with the output shaft, and the driving device can drive the foot adapter to rotate by driving the output shaft to rotate, wherein when the foot of the subject is fixed on the foot adapter, the outer malleolus of the subject is aligned with the axis of the output shaft; the signal acquisition module comprises a position sensor and a torque sensor, wherein the position sensor is fixed on the foot adapter and is used for detecting the angular position of the foot of the subject to obtain position information, and the torque sensor and the output shaft are concentrically arranged on the output shaft and is used for detecting the torque generated by the foot motion of the subject to the output shaft to obtain torque information; the processing device is connected with the signal acquisition module in a communication mode, and is used for receiving the position information and the moment information sent by the signal acquisition module and calculating the rigidity of the ankle joint of the subject based on the position information and the moment information when the foot of the subject rotates within a preset angle range.

The position information comprises information related to a second number of angular position sets respectively acquired in a second number of second test cycles, the moment information comprises information related to a second number of moment sets respectively acquired in a second number of second test cycles, and the angular positions of any two of the second number of angular position sets are consistent, wherein the driving device is specifically configured to: in any one of a second number of second test periods, driving the output shaft to rotate so as to drive the foot of the subject to rotate from the first angle position to the second angle position; the processing device is specifically used for: for any one second test period of a second number of second test periods, selecting at least one group of moments corresponding to at least one preset angle range from the corresponding moment sets, wherein the at least one preset angle range falls in an angle range covered by an angle position set corresponding to the second test period; for each preset angle range within at least one preset angle range, calculating a slope relationship between the moment and the angle based on the preset angle range and a corresponding set of moments to obtain ankle stiffness within the preset angle range; for each preset angle range within at least one preset angle range, calculating an average ankle stiffness within the preset angle range based on the ankle stiffness within the preset angle range calculated for a second number of second test cycles, respectively.

Illustratively, one of the first and second angular positions is a subject's plantar Qu Moduan position and the other is a subject's dorsi-extending distal position.

Illustratively, the at least one preset angular range includes one or more of a plantar flexion end range, a dorsiflexion end range, and a plantar flexion 20 ° range, the plantar flexion end range including a plantar Qu Moduan position, the dorsiflexion end range including a dorsiflexion end position, the plantar flexion 20 ° range including a plantar flexion 20 ° position, the magnitude of the angular range covered by one or more of the plantar flexion end range, the dorsiflexion end range, and the plantar flexion 20 ° range each being equal to the preset angle.

The preset angle is, for example, 5 °.

Illustratively, the torque sensor comprises a strain body and a signal processing module connected with the strain body, wherein the signal processing module comprises a circuit board and a preprocessing circuit positioned on the circuit board, and the strain body can deform to transmit torque; the preprocessing circuit is used for collecting and preprocessing the moment on the corresponding variant to obtain moment information; the position sensor is integrated on the circuit board; the circuit board is communicably connected with the processing device for transmitting the torque information output by the preprocessing circuit and the position information output by the position sensor to the processing device.

The position sensor is illustratively a 9-axis sensor.

Illustratively, the foot adapter includes a regulator, an ankle position adjustment mechanism, a pedal, and a foot mount disposed on the pedal, the ankle position adjustment mechanism having one end connected to the regulator and the other end connected to the pedal;

the driving device comprises a motor and a speed reducer connected with the motor, the output shaft is the output shaft of the speed reducer, and the regulator is connected with the output shaft and can rotate along with the rotation of the output shaft.

Illustratively, the position sensor is fixed to a side of the pedal opposite the foot mount.

Illustratively, the ankle position adjustment mechanism is a cross-bar cross-linked together by a first bar and a second bar.

The cross position of the first connecting rod and the second connecting rod can be adjusted, the pedal can be adjustably connected to one end of the first connecting rod far away from the cross position, and the adjuster is connected to one end of the second connecting rod far away from the cross position.

The second connecting rod is provided with an adjusting chute along the length direction of the second connecting rod, the first connecting rod is sleeved on the second connecting rod and can slide along the length direction of the first connecting rod, and the first connecting rod is provided with a positioning hole corresponding to the adjusting chute and used for the positioning locking piece to pass through.

The pedal is connected to the first connecting rod by a pedal fixing member, the pedal fixing member is adjustably provided on the first connecting rod, and an adjustment direction of the pedal fixing member is an up-down direction.

The speed reducer is provided with a roller corresponding to the limiting groove on the end face, opposite to the speed reducer, of the speed reducer.

Illustratively, the foot mount has a shoe shape; or, the foot fixing piece comprises an instep fixing belt and a heel limiting belt, and the instep fixing belt and the heel limiting belt are directly arranged on the pedal.

According to another aspect of the present invention, there is provided an ankle joint evaluation system including: a sliding base with a sliding rail; the height adjusting mechanism is arranged on the sliding base; the ankle joint evaluation device is arranged on the height adjusting mechanism; and the rotary training seat is arranged on the sliding rail and is adjustable relative to the ankle joint evaluation device.

Illustratively, the rotary exercise seat includes a seat body, a seat body bottom plate, and a seat lift mechanism, the seat body being mounted to an upper end of the seat lift mechanism by the seat body bottom plate.

Illustratively, the seat lift mechanism includes a lift drive cylinder, a telescoping strut connected to the lift drive cylinder, and a foot lever connected to the lift drive cylinder.

The lift drive hydraulic cylinder is, for example, arranged on a seat pan which is locked to the slide rail by means of a seat position locking element.

Illustratively, the rotary exercise seat further comprises a leg support device comprising: the leg support frame comprises a telescopic support rod with adjustable length, and one end of the telescopic support rod is pivotally connected with the bottom support plate of the seat body; and the leg supporting tray is pivotally connected to one end of the telescopic supporting rod, which is far away from the leg supporting frame.

Illustratively, the tray includes a leg rest for supporting the legs of the subject and a leg securing strap disposed on the leg rest.

Illustratively, the seat body is provided with thigh straps.

The slide base is illustratively locked to the slide rail by a host position lock located on a side of the slide base facing away from the swivel training seat.

The slide rail includes a first slide rail and a second slide rail that are mated into a T-shaped slide rail.

Illustratively, the ankle assessment system further comprises: the display device is adjustably supported above the driving device through the screen support.

According to another aspect of the present invention, there is provided an ankle joint evaluation method applied to an ankle joint evaluation device including a foot adapter, a driving device having an output shaft, the foot adapter being connected to the output shaft, and the driving device being capable of driving the foot adapter to rotate by driving the output shaft to rotate, a signal acquisition module including a position sensor fixed to the foot adapter and a torque sensor disposed concentrically with the output shaft, and a processing device communicably connected to the signal acquisition module, wherein the ankle joint evaluation method includes: securing the foot of the subject to the foot adapter such that the outer ankle bone of the subject is aligned with the axis of the output shaft; detecting the angular position of the foot of the subject when the driving device drives the output shaft to rotate or when the foot of the subject actively moves through the position sensor so as to obtain the position information of the foot of the subject; detecting a moment generated by foot motion of a subject on an output shaft through a moment sensor to obtain moment information; the processing device is used for receiving the position information and the moment information sent by the signal acquisition module and calculating the rigidity of the ankle joint of the subject based on the position information and the moment information when the foot of the subject rotates within a preset angle range.

According to another aspect of the invention there is provided an ankle joint assessment apparatus comprising a processor and a memory, wherein the memory has stored therein computer program instructions which, when executed by the processor, are adapted to carry out the steps of: receiving position information and moment information of a subject, wherein the position information is obtained by detecting the angular position of the foot of the subject, and the moment information is obtained by detecting the moment generated by the foot movement of the subject; the ankle stiffness of the subject is calculated based on the position information and the moment information when the foot of the subject rotates within the preset angle range.

According to another aspect of the present invention, there is provided a storage medium having stored thereon program instructions which, when executed, are adapted to carry out the steps of: receiving position information and moment information of a subject, wherein the position information is obtained by detecting the angular position of the foot of the subject, and the moment information is obtained by detecting the moment generated by the foot movement of the subject; the ankle stiffness of the subject is calculated based on the position information and the moment information when the foot of the subject rotates within the preset angle range.

According to the ankle joint evaluation device, the equipment, the system, the method and the storage medium, moment information generated by foot motion can be acquired and obtained through the moment sensor, the rotation angle of the foot can be obtained through the position sensor, and further the ankle joint rigidity of a subject can be obtained through calculation of the moment and the angle. The scheme can quantitatively evaluate the rigidity of the ankle joint, does not need manual calibration and intervention, and can perform automatic information acquisition and evaluation.

In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description section. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

Advantages and features of the invention are described in detail below with reference to the accompanying drawings.

Drawings

The following drawings are included to provide an understanding of the invention and are incorporated in and constitute a part of this specification. Embodiments of the present invention and their description are shown in the drawings to explain the principles of the invention. In the drawings of which there are shown,

FIG. 1 shows a schematic view of an ankle joint evaluation device according to one embodiment of the present invention;

FIG. 2 shows a schematic view of an ankle joint evaluation device according to another embodiment of the present invention;

FIG. 3 illustrates a graph of angular position over time during foot motion according to one embodiment of the invention;

FIG. 4 illustrates a graph of moment generated during foot motion over time according to one embodiment of the present invention;

FIG. 5 shows a graph of the torque of FIG. 4 versus the angle of FIG. 3;

FIG. 6 shows a schematic diagram of a position sensor and a torque sensor separately provided according to one embodiment of the invention;

FIG. 7 shows a schematic diagram of a position sensor and a torque sensor integrated together according to one embodiment of the invention;

FIG. 8 illustrates an overall schematic view of an ankle assessment system according to one embodiment of the present invention;

FIG. 9 illustrates a schematic view of an ankle assessment system with a swivel training seat removed, according to one embodiment of the present invention;

FIG. 10 illustrates two emergency stop diagrams of an ankle assessment system according to one embodiment of the present invention;

FIG. 11 illustrates a schematic view of a sliding base of an ankle assessment system with a host position lock, according to one embodiment of the present invention;

FIGS. 12-16 illustrate schematic views of a foot adapter of an ankle joint evaluation device according to one embodiment of the invention;

17-18 illustrate a sliding schematic of an ankle assessment system according to one embodiment of the present invention;

FIG. 19 shows an overall schematic of an ankle assessment system (from another direction) according to one embodiment of the present invention;

FIG. 20 illustrates a seat rotation limit schematic of an ankle assessment system according to one embodiment of the present invention;

FIG. 21 illustrates a partial schematic view of an ankle assessment system according to one embodiment of the present invention;

FIG. 22 illustrates a partial schematic view of a swivel training seat of the ankle assessment system in accordance with one embodiment of the present invention;

FIG. 23 shows an overall schematic of an ankle assessment system (from another direction) according to one embodiment of the present invention;

FIG. 24 is a schematic view (side view) showing a knee adjustment configuration of an ankle joint evaluation system according to one embodiment of the present invention;

FIG. 25 shows a schematic view (side view) of a straight knee adjustment configuration of an ankle joint evaluation system according to one embodiment of the present invention;

FIG. 26 shows a schematic flow chart of an ankle assessment method according to one embodiment of the present invention; and

fig. 27 shows a schematic block diagram of an ankle joint evaluation apparatus according to an embodiment of the present invention.

Detailed Description

In the following description, numerous details are provided to provide a thorough understanding of the invention. However, it will be understood by those skilled in the art that the following description illustrates preferred embodiments of the invention by way of example only and that the invention may be practiced without one or more of these details. Furthermore, some technical features that are known in the art have not been described in detail in order to avoid obscuring the invention.

In the description of the present invention, it should be noted that terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," "front," and "rear," and the like, which indicate an azimuth or positional relationship, are relative to a surrounding observer or subject standing on the ankle assessment system, are merely provided for convenience in describing the present invention and for simplifying the description, and do not indicate or imply that the apparatus or element in question must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. For the electrical and communication fields, either a wired connection or a wireless connection is possible. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In order to at least partially solve the above technical problems, an embodiment of the present invention provides an ankle joint evaluation device. According to the embodiment of the invention, the ankle joint can be rotated under the action of the driving device, wherein the ankle joint can rotate under plantar flexion and dorsiflexion. The proprioception of the ankle of a subject may be assessed based on the error between the position perceived by the subject (i.e., the stopped position) and the target position when the ankle plantarflexes or dorms. This approach allows for automated quantitative assessment of ankle proprioception.

According to an aspect of the present invention, there is provided an ankle joint evaluation device. Fig. 1 shows a schematic view of an ankle joint evaluation device 100 according to an embodiment of the present invention. As shown in fig. 1, the ankle joint evaluation device 100 includes a foot adapter 110, a driving device 120, and a signal acquisition module 130. Furthermore, the ankle joint evaluation device 100 further includes a processing device (not shown in fig. 1). In the embodiment shown in FIG. 1, the signal acquisition module 130 and the position sensor included therein are fixed to the pedal bottom of the foot adapter 110, but this is by way of example and not limitation. For example, the signal acquisition module 130 may also include a torque sensor (described below) that may be disposed on the output shaft of the drive 120. For another example, the position sensor may be integrated with a torque (i.e., torque) sensor.

The foot adapter 110 is used to secure the foot of a subject. Foot adapter 110 may be any of a variety of suitably configured devices that are capable of securing the foot of a subject. For example, referring to fig. 1, the foot adapter 110 may include a pedal and a foot mount. The pedal is for providing support to the foot of the subject, and the foot mount is on the pedal for securing the foot of the subject to the pedal.

The drive 120 has an output shaft, the foot adapter 110 is coupled to the output shaft, and the drive 120 is capable of rotating the foot adapter by driving the output shaft to rotate, wherein the lateral malleolus of the subject is aligned with the axis of the output shaft when the foot of the subject is secured to the foot adapter 110. The alignment may be understood as the center point of the lateral malleolus being located on the axis extension of the output shaft, the center point of the lateral malleolus may be any point in a predetermined center area on the lateral malleolus. In this way, when the subject's foot rotates with the foot adapter 110 (which may be active or passive movement of the foot), the central portion of the ankle joint may be held stationary, enabling dorsiflexion or plantarflexion of the subject's foot.

The foot adapter 110, as a whole, is rotatable about the axis of the output shaft of the drive 120. The driving device 120 may be any suitable device capable of driving the foot adapter 110 to rotate, thereby enabling the foot of the subject fixed to the foot adapter 110 to rotate synchronously. For example, the driving device 120 may include a motor and a decelerator connected to the motor. The output shaft refers to the output shaft of the speed reducer. In one example, the drive device 120 may further include a control module coupled to the motor for outputting a drive current to the motor to control operation of the motor. In another example, the drive device 120 may be coupled to a processing device coupled to the motor for outputting a drive current to the motor to control operation of the motor.

The signal acquisition module 130 includes a position sensor secured to the foot adapter 110 for detecting an angular position of the foot of the subject to obtain position information. The position sensor may be fixed to the foot adapter 110 by direct or indirect means, so long as the rotation angle thereof can reflect the rotation angle of the foot adapter 110. For example, as shown in FIG. 1, the position sensor is directly secured to the foot pedal bottom of the foot adapter. For another example, the position sensor may be integrated with a torque sensor that rotates in synchronization with the foot adapter such that the angle of rotation acquired by the position sensor remains consistent with the angle of rotation of the foot adapter.

The angular position may be expressed in terms of a rotational angle. For example, each time the subject's foot is rotated from a fixed starting position, where the subject's ankle is placed in a neutral position, the ankle angle at this time may be marked as 0 °. Thus, when the foot of the subject rotates by x °, the angular position reached by the foot is x °. That is, the angular position may be expressed in absolute angle or in relative rotation angle. By way of example and not limitation, the position sensor may be a 9-axis sensor. The 9-axis sensor may include a 3-axis accelerometer, a 3-axis gyroscope, a 3-axis magnetometer, which can detect three attitude angles of itself, namely a pitch angle, a roll angle, and a yaw angle. The working principle of the 9-axis sensor is understood by those skilled in the art, and is not described in detail herein. The position sensor is fixed on the foot adapter, and the detected angle change can be regarded as the angle change of the foot adapter. Meanwhile, the foot of the subject is fixed on the foot adapter, and the angle change of the foot adapter can be regarded as the angle change of the foot of the subject. Thus, the position sensor may detect the angular position of the foot of the subject.

The processing device is communicatively coupled to the signal acquisition module 130, the processing device is configured to receive the positional information transmitted by the signal acquisition module, calculate an error between a stopped position of the foot of the subject and a target position based on the positional information, and evaluate the proprioception of the ankle of the subject based on the error.

The processing means may be implemented using any means having data processing and/or instruction execution capabilities, including but not limited to a personal computer, server or other electronic device, such as a host computer. Furthermore, the processing device may also be implemented as a Central Processing Unit (CPU), a Microcontroller (MCU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a programmable logic array (FPGA), or other form of processing unit having data processing and/or instruction execution capabilities.

The processing device and the signal acquisition module 130 may be connected by a wired or wireless connection, where the wired connection may be a connection technology such as a serial or parallel data transmission line, and the wireless connection may be a connection technology such as wifi or bluetooth.

To evaluate the proprioception of the ankle of a subject, the subject's foot may first be secured to the foot adapter 110 and its physical state adjusted to a suitable state, such as adjusting the subject's hip to 90 ° flexion, knee to straightened position, and ankle to neutral position. At this time, the position where the foot of the subject is located may be referred to as a start position. As described above, the start position may be marked as 0 ° (this example will be used hereinafter). The output shaft may then be rotated by the drive 120 to rotate the foot adapter 110 (i.e., the drive 120 drives the foot adapter 110 to rotate) a predetermined angle to reach a target position, such as 20 degrees plantarflexion. It will be appreciated that the target position is the position of plantarflexion x ° when testing proprioception of the ankle in plantarflexion and y ° when testing proprioception of the ankle in dorsiflexion, x and y being angular values of any magnitude. The driving means 120 drives the foot adapter 110 to rotate to the target position, i.e. after driving the foot to rotate to the target position, where it stays for a certain time, e.g. 5 seconds, and then the foot adapter 110 can be driven to rotate back to the starting position. The purpose of this is to demonstrate to the subject where the target location he needs to reach is. This step is optional.

The subject's foot may then perform active or passive movements, stopping when the subject feels it to the target position, the position sensor collecting the actual stopping position at that time. The processing means may evaluate the proprioception of the ankle of the subject based on the error between the stop position of the subject in terms of sensation and the target position, the greater the error, the worse the proprioception, the smaller the error, and the better the proprioception. Such tests may be performed one or more times, and when performed multiple times, an average error of the multiple tests may be calculated and ankle proprioception may be estimated based on the average error.

Illustratively, the ankle assessment device 100 may further include a storage device, coupled to the processing device, for storing the location information and proprioception assessment results, and may optionally store some intermediate results in the proprioception assessment process, such as an error between the stopped position and the target position, and the like. In the embodiments described below that include a torque sensor, the storage device may also be used to store torque information and stiffness calculations, and may optionally store some intermediate results in the stiffness calculation process, such as graphs of angle and torque, etc.

The ankle joint evaluation device according to the embodiment of the invention can acquire the actual angular position of the subject in real time through the position sensor, and quantitatively evaluate the ankle joint proprioception based on the error of the stop position perceived by the subject and the target position. The method is an automatic quantitative evaluation mode, and can realize accurate quantitative evaluation of the proprioception of the ankle joint.

According to an embodiment of the present invention, the position information includes information related to a first number of stop positions respectively acquired in a first number of first test periods, and the processing device is specifically configured to: calculating an error between each of the first number of stop positions and the target position to obtain first number of error data, or calculating an average stop position based on the first number of stop positions, respectively; calculating a total error between the first number of stop positions and the target position based on the first number of error data or the average stop positions; and assessing the proprioception of the ankle joint of the subject based on the total error.

The first number may be any suitable number, which may be set as desired, for example, three, five, etc. In each first test cycle, the foot of the subject is stopped from a start position until it feels that the foot reaches the target position, a stop position is obtained, and then the foot is returned to the start position from the stop position, so that one test cycle is completed. Such a test cycle may be repeated a number of times. In one example, for each first test period, the error between the corresponding stop position and the target position may be calculated and the error for all first test periods averaged to obtain the total error. In another example, the stopping positions of all the first test periods may be averaged first to obtain an average stopping position, and then the total error may be calculated by calculating the error between the average stopping position and the target position.

Alternatively, a proprioception score may be generated based on the total error, for indicating whether the subject's ankle proprioception is good or bad.

According to an embodiment of the invention, each of the first number of stop positions is generated by one active movement of the foot of the subject during a corresponding first test period.

The test for proprioception of the subject may include at least two modes, one active and one passive. The active mode may be implemented in the following manner. For example, during each first test period, the driving device 120 is not operated, and the foot of the subject actively moves to drive the foot adapter 110 to move synchronously. The stopping position of the current test cycle is obtained when the subject's foot moves to what it considers to be the target position. The user can grasp and adjust the speed of foot motion by himself in the active mode, and the user freedom degree and the comfort degree are high.

The active movements may include active dorsi-extension movements and active plantar flexion movements, with which movements are specifically performed being determined according to whether the current test is dorsi-extension proprioception or plantar flexion proprioception.

According to an embodiment of the present invention, the processing device is specifically further configured to: for any (or each) of the first number of first test cycles, if the time when the rate of change of the angular position of the foot of the subject is below the preset rate threshold exceeds the preset time threshold, determining that the active movement is stopped, and determining that the position where the foot of the subject is stopped at the current time is one of the first number of stop positions.

Under the condition that the feet of the subject do active movement, whether the feet of the subject stop moving can be automatically detected and judged, and whether the feet of the subject stop moving can be judged based on instructions input by a user. The manner of automatic detection and determination may be determined by detecting whether the rate of change of the angular position of the foot of the subject is less than a threshold value and whether the time period of less than the threshold value is sufficiently long. And in the first test period, once the time that the change speed of the angular position of the foot of the subject is detected to be lower than the preset speed threshold exceeds the preset time threshold, the active movement is considered to be stopped. The preset speed threshold and the preset time threshold may be any suitable values, which may be set as desired.

The mode of detecting and judging whether the subject stops moving by the equipment does not need user participation, is more intelligent and automatic, and can effectively reduce user operation.

According to an embodiment of the present invention, the ankle joint evaluation device 100 may further comprise an input device for receiving a motion stop instruction for indicating an active motion stop of the subject, which is input by the user, the processing device being communicatively connected with the input device, the processing device being specifically further adapted to: for any (or each) first test period of the first number of first test periods, if a motion stop instruction corresponding to the current active motion is received, determining that the current active motion is stopped, and determining that the position where the foot of the subject stays at the current moment is one of the first number of stop positions.

The user may be the subject himself or herself or any other person than the subject, such as a doctor or the subject's family, etc. The input device may be any device capable of receiving input information, such as a microphone, keyboard, touch screen, etc. A user may enter text information via an input device such as a keyboard and/or touch screen, and may also enter voice information via an input device such as a microphone. When the subject feels that the target position is reached, he may input or inform others himself/herself to input the movement stop instruction by others. When receiving the motion stop instruction transmitted by the input device, the processing device confirms that the active motion is stopped at the moment, and determines the angle corresponding to the stop position based on the position information acquired by the position sensor.

The judgment accuracy of the motion stop by the mode of inputting the motion stop instruction by the user is higher, so that more accurate evaluation results are obtained.

According to an embodiment of the invention, each of the first number of stop positions is generated by a passive movement of the foot of the subject by rotation of the foot adapter during a corresponding first test period, the driving means being in particular for: in any (or each) first test period of the first number of first test periods, driving the output shaft to rotate at a preset speed until a driving stop instruction is received, wherein the driving stop instruction is generated based on an active stop command of a subject; the processing device is specifically further used for: for any (or each) of the first number of first test cycles, determining that the passive movement is stopped this time when the output shaft stops rotating, and determining that the position where the subject's foot stays at the present time is one of the first number of stop positions.

As described above, the proprioception of the subject can also be tested by the passive mode. In the passive mode, the driving device 120 drives the foot of the subject to move at a preset speed. The speed of movement in the passive mode is adjustable. For example, the preset speed may be subject-specific, different subjects may have different physical conditions, and different preset speeds may be used. For another example, different preset speeds may be used depending on the purpose of the test. In short, the preset speed can be set arbitrarily as required, and the present invention is not limited thereto.

For example, the foot adapter 110 may be driven in rotation at a speed of 1 °/second to cause the foot to perform passive plantarflexion or dorsiflexion movements at a speed of 1 °/second. When the subject considers that the target position is reached, an active stop command is issued, and the active stop command can be a voice command or a gesture command, etc. The drive stop command is generated based on the active stop command. Illustratively, the ankle assessment device 100 may also include an input device, the implementation of which may be found in the description above. In one example, an input device may be connected to the driving device 120, and the input device receives an active stop command of a subject or a user command input by a user upon hearing the active stop command of the subject, generates a corresponding driving stop command, and transmits the driving stop command to the driving device 120 to stop driving the driving device 120. The processing device may be connected to the driving device 120 and/or the input device, and receive a driving stop command from the driving device 120 and/or the input device, so as to learn a time when the output shaft stops rotating (i.e., the driving device 120 stops driving), and further determine an angle corresponding to the time as a stop position. In another example, the input device may be connected to the processing device, and the input device receives an active stop command of the subject or a user instruction input by the user upon hearing the active stop command of the subject, generates a corresponding drive stop instruction, and transmits the drive stop instruction to the processing device. The processing means may be connected to the driving means 120 and transmit a driving stop instruction to the driving means 120 to stop the driving of the driving means.

By passive isokinetic movement, the proprioception of the subject can be quantitatively assessed, and this passive mode is more friendly for patients with ankle dysfunction.

According to an embodiment of the present invention, the driving device 120 is specifically configured to: in any (or each) first test period of the first number of first test periods, after the active or passive movement is stopped, the output shaft is driven to rotate so as to drive the foot of the subject to return to a fixed initial position, wherein the initial position is a position where the ankle joint of the subject is placed in a neutral position.

As described above, after each movement has ceased, the subject's foot may be automatically reset back to a fixed starting position. Therefore, the ankle joint evaluation device is automatically reset, and the initial position of the foot of the subject can be kept consistent all the time, so that accurate evaluation results are facilitated.

According to an embodiment of the present invention, the ankle joint evaluation device 100 may further comprise an output device communicatively connected with the processing device, the processing device being specifically further configured to: at the end of any (or each) of the first number of first test cycles, sending a prompt instruction to the output device; the output device is used for: and outputting prompt information based on the prompt instruction, wherein the prompt information is used for prompting the subject to enter the next first test period or the whole test is ended.

The output device may be implemented, for example, using a display screen and/or speakers, etc., for outputting one or more of voice, text, image, video, etc. And when the first test period is ended except the last first test period, outputting corresponding prompting information to prompt the test subject that the current test period is ended, and starting to perform the next active movement or passive movement. At the end of the last first test period, a prompt message may be output to prompt the subject that the entire test is complete. The scheme can strengthen interaction with the subject, improve participation of the subject, and enable the use experience of the subject to be better. In addition, the test progress is also convenient for the test subjects to know, the test subjects are conveniently guided to operate, and the use difficulty of the device is reduced.

According to an embodiment of the present invention, the driving device is specifically further configured to: before a first test period of a first number, the output shaft is driven to rotate so as to drive the foot of the subject to rotate from a fixed initial position until reaching a target position, and when the driving stopping time reaches a preset time, the output shaft is driven to rotate so as to drive the foot of the subject to return to the initial position, wherein the initial position is a position where the ankle joint of the subject is placed at a neutral position.

As described above, the subject may initially be demonstrated where the target location is. The subject then senses and seeks the target location through active or passive movement. The test efficiency of this scheme will be relatively high.

The ankle joint training devices (constant speed training devices, ankle joint robots and the like) in the existing market are mostly training systems, and lack of quantitative evaluation means for the rigidity of the ankle joint. In addition, current ankle joint training equipment is when measuring the moment, mainly measures through constant speed instrument, needs artifical manual correction joint position, and this makes the ankle joint position be difficult to accurate correction, and wastes time and energy. In order to at least partially solve the above technical problems, an embodiment of the present invention provides a measurement scheme for ankle joint stiffness.

According to an embodiment of the present invention, the signal acquisition module 130 may further include a torque sensor concentrically disposed on the output shaft for detecting a torque generated by a foot motion of the subject on the output shaft to obtain torque information; the processing device is further configured to receive the moment information sent by the signal acquisition module 130, and calculate the ankle stiffness of the subject based on the position information and the moment information when the foot of the subject rotates within a preset angle range.

Fig. 2 shows a schematic view of an ankle joint evaluation device 100 according to another embodiment of the present invention. Fig. 2 shows a position sensor 132 and a torque sensor 134 included in the signal acquisition module 130. As shown in fig. 2, the torque sensor 134 is provided on the output shaft of the drive device 120 and is disposed concentrically with the output shaft.

When the rotation speed of the foot of the subject, namely the rotation speed of the foot adapter, is not completely consistent with the rotation speed of the output shaft, the foot of the subject can generate a reaction force on the output shaft, so that the moment sensor detects a corresponding moment value. Those skilled in the art can understand the working principle of the torque sensor, and the description thereof is omitted herein.

Moment information generated by foot movement can be acquired through the moment sensor 134, the rotation angle of the foot can be acquired through the position sensor, and further the ankle stiffness of the subject can be calculated through the moment and the angle. The scheme can quantitatively evaluate the rigidity of the ankle joint, does not need manual calibration and intervention, and can perform automatic information acquisition and evaluation.

For example, the processing means may also pre-process the moment information acquired by the moment sensor 134, which may include, for example, normalization, before calculating the ankle stiffness of the subject based on the position information and the moment information. The normalization may be, for example, to uniformly subtract an error value from all the moment data, e.g., the initial moment acquired by the moment sensor 134 when no force is applied should be zero, but the initial moment acquired due to the equipment has a certain value (i.e., an error value), and the error value may be uniformly subtracted from all the acquired moment data to obtain the actual moment value.

According to an embodiment of the present invention, the position information includes information related to a second number of angular position sets acquired respectively in a second number of second test periods, the moment information includes information related to a second number of moment sets acquired respectively in the second number of second test periods, and angular positions of any two angular position sets in the second number of angular position sets are consistent, wherein the driving device 120 is specifically configured to: in any (or each) of the second number of second test cycles, driving the output shaft to rotate to drive the foot of the subject to rotate from the first angular position to the second angular position; the processing device is specifically used for: for any (or each) second test period of the second number of second test periods, selecting at least one group of moments respectively corresponding to at least one preset angle range from the corresponding moment sets, wherein the at least one preset angle range falls within an angle range covered by the angle position set corresponding to the second test period; for each preset angle range within at least one preset angle range, calculating a slope relationship between the moment and the angle based on the preset angle range and a corresponding set of moments to obtain ankle stiffness within the preset angle range; for each preset angle range within at least one preset angle range, calculating an average ankle stiffness within the preset angle range based on the ankle stiffness within the preset angle range calculated for a second number of second test cycles, respectively.

After the foot of the subject rotates from the first angular position to the second angular position, the driving device 120 may drive the output shaft to rotate to drive the foot of the subject to return from the second angular position to the first angular position so as to start the next second test cycle.

Preferably, the processing device is connected to the driving device 120, for outputting a driving current to the driving device 120 to control the operation and stop of the driving device 120. When the processing device determines that the foot of the subject rotates to the second angle position, the driving device 120 can be controlled to stop, and the driving device 120 is controlled to drive the output shaft to rotate so as to drive the foot of the subject to return to the first angle position from the second angle position.

The second number may be any suitable number, which may be set as desired, for example, may be three, five, etc. The second number may or may not be identical to the first number.

The first and second angular positions may be set as desired. Preferably, one of the first and second angular positions is a subject's plantar Qu Moduan position and the other is a subject's dorsi-extending distal position. For example, during each second test cycle, the drive 120 drives the foot adapter 110 to rotate the subject's foot from the plantar Qu Moduan position to the dorsi-extended end position. Alternatively, the plantar Qu Moduan position and the dorsal end position may be fixed. Preferably, the plantar Qu Moduan position and the dorsal end position may be subject specific, which may be determined by pre-testing the subject for a threshold of joint movement (Motion perception threshold, MPT).

FIG. 3 illustrates a graph of angular position over time during foot motion according to one embodiment of the invention. FIG. 4 illustrates a graph of moment generated during foot motion over time according to one embodiment of the present invention. Fig. 5 shows a graph of the torque of fig. 4 versus the angle of fig. 3.

In the example shown in fig. 3, the first angular position is-40 °, i.e. plantarflexion 40 °, and the second angular position is 10 °, i.e. dorsiflexion 10 °. During each second test cycle, the subject's foot was driven to rotate from a plantarflexion 40 ° to a dorsiflexion 10 ° position. During each second test period, the driving device 120 continuously detects the actual rotation angle of the foot of the subject, that is, continuously detects the actual reaching position of the foot of the subject, so that a time-varying curve of the angular position can be obtained as shown in fig. 3.

During each second test cycle, the torque sensor continuously detects the torque on the output shaft as the foot of the subject rotates, so that a time-dependent profile of the torque can be obtained as shown in fig. 4. The angular position detected by the position sensor and the moment detected by the moment sensor are synchronous in time and have a corresponding relation.

Ignoring the time, the moment is taken as the ordinate and the angle is taken as the abscissa, and the relationship between moment and angle as shown in fig. 5 can be obtained. One or more preset angle ranges can be selected from the above, and the slope between the moment and the angle in the angle ranges is calculated to obtain the ankle joint rigidity in the angle ranges.

In the second number of second test periods, a second number of moment sets can be detected respectively, and usually the moment sets detected in different test periods have little difference, as shown in fig. 4, and several moment curves basically overlap. And the second number of angular position sets obtained by respectively detecting in the second number of second test periods are completely consistent, as shown in fig. 3, the angular curves are completely overlapped, which is equivalent to the same angular curve.

In this way, ankle stiffness can be calculated based on the second number of moment sets and the same set of angular positions. For any (but every) preset angular range, the ankle stiffness in that preset angular range for each second test period may be calculated separately, and then the average ankle stiffness in that preset angular range may be calculated based on the ankle stiffness in that preset angular range for all second test periods. In another example, for any (but every) preset angular range, the average moment in the preset angular range may be calculated based on the moment in the preset angular range in all the second test periods, and then the average ankle stiffness in the preset angular range may be calculated based on the slope relationship between the average moment in the preset angular range and the preset angular range.

Alternatively, before calculating the ankle stiffness, multiple tests may be performed until the fluctuation of the moment curve as shown in FIG. 4 is small enough to meet the preset requirements. Several test results after curve stabilization can then be selected from all tests as a basis for subsequent calculations.

According to an embodiment of the present invention, the at least one preset angular range may include one or more of a plantar flexion end range, a dorsiflexion end range and a plantar flexion 20 ° range, the plantar flexion end range including a plantar Qu Moduan position, the dorsiflexion end range including a dorsiflexion end position, the plantar flexion 20 ° range including a plantar flexion 20 ° position, the magnitude of the angular range covered by each of one or more of the plantar flexion end range, dorsiflexion end range and plantar flexion 20 ° range being equal to the preset angle.

The preset angle may be any suitable value, which may be set as desired, for example, the preset angle may be 5 °.

The plantar flexion end range has one end point at the plantar flexion end position and the other end point at a position rotated by a predetermined angle from the plantar Qu Moduan position toward the dorsiflexion end position. For example, where the subject's plantar Qu Moduan position is plantar flexed 40 °, the preset angle is 5 °, the distal plantar flexion range may be from plantar flexion 40 ° to plantar flexion 35 °.

Similarly, one end point of the dorsi-extension end range is a dorsi-extension end position, and the other end point is a position reached by rotating a predetermined angle from the dorsi-extension end position to the plantar flexion end position. For example, in the case where the subject's back extension end position is 10 ° back extension, the preset angle is 10 °, the back extension end range may be a range from the start position 0 ° to 10 ° back extension.

The two endpoints of the 20 ° range of plantarflexion may be arbitrary as long as the 20 ° range of plantarflexion encompasses the 20 ° position of plantarflexion. For example, in the case where the preset angle is 5 °, the plantarflexion 20 ° range may be a range of plantarflexion 15 ° to plantarflexion 20 °.

The angular ranges covered by any two of the distal plantar flexion range, the distal dorsiflexion range, and the 20 ° plantar flexion range may or may not be uniform in size, and may be set as desired.

In this way, the ankle stiffness of the subject can be obtained at some location of relatively great importance, such as the plantar Qu Moduan, dorsal extremity and 20 ° vicinity of plantarflexion.

According to an embodiment of the present invention, the torque sensor 134 may include a strain body and a signal processing module connected to the strain body, the signal processing module including a circuit board and a preprocessing circuit on the circuit board, wherein the strain body is capable of being deformed to transmit a torque; the preprocessing circuit is used for collecting and preprocessing the moment on the corresponding variant to obtain moment information; the position sensor 132 is integrated on the circuit board; the circuit board is communicatively coupled to the processing device for transmitting the torque information output by the preprocessing circuit and the position information output by the position sensor 132 to the processing device.

In one example, the position sensor 132 and the torque sensor 134 may be provided separately. Fig. 6 shows a schematic diagram of a position sensor 132 and a torque sensor 134 separately provided according to one embodiment of the invention. As shown in fig. 6, a position sensor 132 is fixed to the pedal bottom of the step adapter 110, and a torque sensor 134 is provided on the output shaft of the drive device.

In another example, the position sensor 132 and the torque sensor 134 may be integrated together. FIG. 7 shows a schematic diagram of a position sensor 132 and a torque sensor 134 integrated together according to one embodiment of the invention. The torque sensor 134 may include a strain body (not explicitly shown in fig. 7) and a signal processing module 1342 connected with the strain body. The strain body may include a rotation shaft and/or a stress spring, etc., which can deform to transmit torque, and those skilled in the art can understand the structure and working principle of the strain body, which will not be described herein. The whole strain body can be regarded as a rigid body, and the strain body and the signal processing module are fixedly connected together. Meanwhile, the position sensor 132 may be integrated on a circuit board of the signal processing module, so that the strain body, the signal processing module, and the position sensor 132 may all be rotated in synchronization with the foot adapter 110, so that the position sensor 132 can detect the rotation angle of the foot adapter 110. The detected angles may be slightly different when the position sensor 132 is disposed at different positions, and thus subsequent processing may be performed after the detected angles are calibrated in advance.

The preprocessing circuit may perform processing such as amplification, filtering, etc. on the detected torque signal to obtain the required torque information.

The current research proves that the ankle joint evaluation device can evaluate ankle joint dysfunction groups caused by various causes such as nerve injury, musculoskeletal system diseases and the like, and can be widely applied to adults and children. The ankle joint evaluation device can quantitatively evaluate the rigidity of the ankle joint, and the device is adopted to test and study the old ankle joint dysfunction caused by the damage of nervous systems such as hemiplegia, cerebral palsy and the like, and the reliability is found to be at least 0.76.

According to an embodiment of the invention, the foot adapter comprises an adjustor, an ankle position adjusting mechanism, a pedal and a foot fixing piece arranged on the pedal, wherein one end of the ankle position adjusting mechanism is connected with the adjustor, and the other end of the ankle position adjusting mechanism is connected with the pedal; the driving device comprises a motor and a speed reducer connected with the motor, the output shaft is the output shaft of the speed reducer, and the regulator is connected with the output shaft and can rotate along with the rotation of the output shaft.

According to an embodiment of the present invention, the position sensor is fixed to the pedal on the opposite side from the foot fixing (i.e., the pedal bottom).

According to the embodiment of the invention, the ankle joint position adjusting mechanism is a crisscross connecting rod which is formed by connecting a first connecting rod and a second connecting rod in a cross mode.

According to the embodiment of the invention, the crossing position of the first connecting rod and the second connecting rod can be adjusted, the pedal can be adjustably connected to one end of the first connecting rod far away from the crossing position, and the adjuster is connected to one end of the second connecting rod far away from the crossing position.

According to the embodiment of the invention, the second connecting rod is provided with the adjusting chute along the length direction thereof, the first connecting rod is sleeved on the second connecting rod and can slide along the length direction of the first connecting rod, and the first connecting rod is provided with the positioning hole corresponding to the adjusting chute and used for the positioning locking piece to pass through.

According to the embodiment of the invention, the pedal is connected with the first connecting rod through the pedal fixing piece, the pedal fixing piece can be adjustably arranged on the first connecting rod, and the adjusting direction of the pedal fixing piece is the up-down direction.

According to the embodiment of the invention, the limiting mechanism for limiting the rotary motion of the motor is arranged between the regulator and the speed reducer, the limiting mechanism comprises a limiting groove and a limiting block, the limiting groove and the limiting block are arranged on the end face of the regulator, which is opposite to the speed reducer, and the end face of the speed reducer, which is opposite to the regulator, is provided with a roller corresponding to the limiting groove.

According to an embodiment of the invention, the foot fixing member has a shoe shape; or, the foot fixing piece comprises an instep fixing belt and a heel limiting belt, and the instep fixing belt and the heel limiting belt are directly arranged on the pedal.

The respective constituent parts of the ankle joint evaluation device 100 and the structure and operation principle of the respective constituent parts in the ankle joint evaluation system are described below in conjunction with the entire ankle joint evaluation system.

Fig. 8 shows an overall schematic of an ankle assessment system according to one embodiment of the present invention. As shown in fig. 8, the ankle assessment system includes a sliding base 800 with a slide rail, a height adjustment mechanism 300, an ankle assessment device 100, a display device 400 (optional), and a swivel training seat 500. The height adjustment mechanism 300 is mounted on the slide base 800. The ankle evaluating device 100 is mounted on the height adjusting mechanism 300. The display device 400 is adjustably supported above the driving device 120 of the ankle evaluating device by a screen bracket. The rotary exercise seat 500 is positioned on the sled 600 with adjustable positions relative to the ankle assessment device 100. The slide base 800 is locked on the slide rail 600 by a host position lock (i.e., the slider 302 mentioned below) located on the side of the slide base 800 facing away from the rotary exercise seat 500. The slide rail 600 includes a first slide rail 601 and a second slide rail 602, the first slide rail 601 and the second slide rail 602 being abutted into a T-shaped slide rail.

Specifically, referring to fig. 8, the ankle joint evaluation device 100 includes a foot adapter 110 and a driving device 120. The drive 120 may include a drive module 122 and a control module 124. Illustratively, the processing device and the control module 124 may be integrated together, and both are implemented by the same device, or the control module 124 is the processing device.

FIG. 9 illustrates a schematic view of an ankle assessment system with a swivel training seat removed, according to one embodiment of the present invention. Referring to fig. 9, the sliding base 800 includes a base 307 and a T-shaped slide rail 600, the base 307 is disposed on a shoulder of the T-shaped slide rail 600, the lifting column 301 is mounted on the base, and the driving device 120 is disposed on the lifting column 301, and as mentioned above, the driving device 120 mainly includes the control module 124 and the driving module 122. A slider 302 for host adjustment, a lifting column power switch 303, a main power socket 304, a nameplate 305, and a hand-held emergency stop switch 306 are provided in this order on the back side of the base 307, which is opposite to the seat. The driving device 120 is provided with an emergency stop switch 201A and a hand-held emergency switch 201B, and the emergency stop switch 201A and the hand-held emergency switch 201B function the same as the hand-held emergency stop switch 306 described above. An input port 204 and a data connection serial port 205 are designed on the back side opposite to the subject.

As shown in fig. 10, there are partial detail views of two emergency stop switches. An emergency stop switch 201A is shown as well as a hand held emergency switch 201B, which functions the same, the latter being convenient for the subject.

As shown in fig. 11, the system mainframe has a lockable slider 302, and based on the arrangement of the slide rail 600, the mainframe position can be adjusted according to the left and right leg positions, so as to obtain the test of the left or right lower limb. And the sliding block 302 is loosened, and the equipment host can slide left and right on the sliding rail, so that the equipment can be conveniently moved.

Referring to fig. 12-16 in combination, the drive module 122 has a decelerator 202A and a motor 202B disposed therein, and the foot adapter 110 is connected to the decelerator 202A and rotatable about A-A central axis.

As shown in fig. 12-14, is an internal structural view of the drive module with the connecting rods. The driving module 122 includes a decelerator 202A and a motor 202B inside, and is connected to the foot adapter 110 at the front of the decelerator by screws. Fig. 13 shows a stop mechanism 140 in front of the speed reducer in front of the motor. For example, when a subject is tested, the spacing mechanism 140 is adjusted to achieve different foot ankle tests and evaluations as the foot adapter adjusts to adjust the angle of the pedal. Fig. 15 is a perspective view of the drive device.

In one particular embodiment, foot adapter 110 includes an adjuster 102, an ankle position adjustment mechanism 104, a pedal 101, and a foot mount. The pedal 101 is used to provide support to the foot of a subject. The pedal 101 is rotatable about an axis by the ankle position adjusting mechanism 104 under the drive of the drive device 120. A foot mount is on the pedal 101 for securing a subject's foot to the pedal 101. In particular embodiments, the foot mounts may include an instep strap 105 and a heel strap 106 for securing a left foot (or right foot) to the pedal 101. Instep securing strap 105 may be used to secure and restrain the instep of the subject, preventing the foot of the subject from falling off pedal 101. Heel strap 106 may be used to restrain and limit the subject's heel, preventing the subject's heel from sliding off pedal 101 during use. Alternatively, the instep-securing strap 105 and the heel-restraining strap 106 may be provided as a unitary structure. In addition, the foot fixing member may have other structures, for example, a structure similar to shoes, as long as the subject's foot can be fixed to the pedal 101.

An ankle position adjusting mechanism 104 has one end connected to the adjuster 102 and the other end connected to the pedal 101. The ankle position adjusting mechanism 104 is a crisscross connecting rod that is cross-connected together by a first connecting rod 1041 and a second connecting rod 1042. The intersection position of the first connecting rod and the second connecting rod can be adjusted, the pedal 101 is adjustably connected to an end of the first connecting rod 1041 away from the intersection position, and the adjuster 102 is connected to an end of the second connecting rod 1042 away from the intersection position. The second connecting rod 1042 is provided with an adjusting chute 10421 along the length direction thereof, the first connecting rod 1041 is sleeved on the second connecting rod 1042 and can slide along the length direction of the first connecting rod 1041, and the first connecting rod 1041 is provided with a positioning hole 10411 corresponding to the adjusting chute 10421 for passing through the positioning locking member 107. The adjuster 102 is used to compress the ankle position adjustment mechanism 104 against the decelerator, specifically, the second connecting rod 1042 may be compressed against the stop mechanism 140, so that the ankle position adjustment mechanism 104 is kept stable, and is prevented from shaking, and the ankle position adjustment mechanism 104 is prevented from being separated from the driving device 120 when the foot moves.

The pedal 101 is connected to the first connecting rod 1041 through a pedal fixing member 103, the pedal fixing member 103 is adjustably disposed on the first connecting rod 1041, and an adjustment direction of the pedal fixing member 103 is an up-down direction. Referring to fig. 13 and 14, a limiting mechanism 140 for limiting the rotational movement of the motor is provided between the regulator 102 and the speed reducer 202A, the limiting mechanism 140 includes a limiting groove 141 and a limiting block 142, the limiting groove 141 and the limiting block 142 are provided on an end face of the regulator 102 opposite to the speed reducer 202A, and a roller 2021 corresponding to the limiting groove 141 is provided on an end face of the speed reducer 202A opposite to the regulator 102.

For example, where the ankle joint evaluation device 100 includes a torque sensor, the torque sensor 134 may be disposed between the adjuster 102 and the decelerator 202A, see fig. 2, 6, and 7 described above.

As shown in fig. 17 and 18, a top view of the ankle assessment system is shown showing the different states of the left and right leg test. The ankle evaluation system of the present invention may perform left ankle or right ankle tests. For example, the drive device 120 is pushed into place relative to the swivel exercise seat 500, when left or right ankle tests are desired, the left or right thigh is placed on the leg support, the thigh straightens, the left or right foot is placed on the pedal, and the slider lock slide is then adjusted.

Referring now to fig. 19-22 in combination, the main components of a rotary exercise seat 500 are shown: the seat body 510, the seat body bottom plate 511, the seat lifting mechanism 512 and the movable seat arm rest 503, the seat body 510 is mounted at the upper end of the seat lifting mechanism 512 through the seat body bottom plate 511, and the thigh strap 502 is provided on the seat body 510. The seat lifting mechanism 512 includes a lift drive hydraulic cylinder 509, a telescopic strut 508, and a foot-operated lever 505, the telescopic strut 508 being connected to the lift drive hydraulic cylinder 509, the foot-operated lever 505 being connected to the lift drive hydraulic cylinder 509. The lift drive hydraulic cylinder 509 is provided on the seat pan 513, and the seat pan 513 is locked to the slide rail 600 by the seat position locking member 507. The rotary training seat 500 further comprises a leg support device 501, wherein the leg support device 501 comprises a leg supporting frame 5011 and a leg supporting tray 5012, the leg supporting frame 5011 comprises a telescopic supporting rod with adjustable length, and one end of the telescopic supporting rod is pivotally connected with the bottom supporting plate 511 of the seat body. The leg rest 5012 is pivotally connected to an end of the telescopic support bar remote from the leg rest 5011. The leg tray 5012 includes a leg rest 50121 for supporting the legs of the subject and a leg fixing strap 50122 provided on the leg rest 50121.

For example, the chair armrests 503 and chair backs are adjustable for the convenience of the subject. The seat body 510 carries the upper body strap 504 and thigh strap 502 for stability of the sitting position of the subject. The present invention provides a leg support 501 pivotally connected to the seat by a link for supporting the thigh of the subject. The term "thigh" in the present invention refers to a portion between the knee joint and the root of the thigh, and therefore, the leg support device may also be referred to as a thigh support device. The leg support 501 may allow for a reasonable support of the subject's thigh throughout the movement of the foot adapter 110. Fig. 20 is a view showing an internal structure of a rotation limit of the training seat.

As shown in fig. 21, a partial schematic view of the leg support device shows a connection mode adjustment knob 501A, a length knob 501B, and an adjustment knob 501C of the leg support device. For example, after the subject sits, the adjustment knob 501A is pressed, the rotating shaft is rotated, the thigh of the subject is lifted, the rotating angle is adjusted according to the straightening degree of the knee joint of the subject, and after the adjustment is performed to a proper angle, the adjustment knob is released to fasten the position of the leg support 5011; loosening and adjusting a knob 501B in the middle of the support frame, and adjusting along the leg direction according to the seat height and the length of the lower leg of the subject, wherein the knob 501B is fastened after the adjustment is finished; loosening and adjusting the leg supporting disc knob 501C, and performing proper inclination adjustment according to the actual conditions of different subjects; adjustment is based on the principle of comfortably supporting the subject's lower leg.

As shown in fig. 22, the internal structure of the seat lifting mechanism 512 is shown, the lifting driving hydraulic cylinder 509 is a passive foot-operated lifting cylinder, and the lifting driving hydraulic cylinder 509 is connected with four telescopic struts 508. The passive pedal type lifting oil cylinder is safe and reliable and convenient to use. The four telescoping struts 508 are added to enhance the stability of the seat 500. In fig. 22, the leg rest rotating part a, the leg rest telescopic part B, and the leg rest support lever rotating part C are enlarged. The leg tray 5012 can rotate, and limiting is realized through a knob A1; the leg support 5011 is telescopic, and is locked by rotating the knob B1 after being adjusted to the target length; pressing the "button C1" leg rest 5011 can achieve selection in the up-down direction, and locking is achieved after the button is released.

As shown in fig. 23, the display device 400 may be used to display various data of the processing device (including foot motion data as well as various other information). In connection with fig. 8, a display 400 may include a display 401 and/or an image projection device (projector) support bar 402, the projection device support bar 402 being disposed behind the drive 120, opposite the seat 500, for viewing by a subject. Preferably, it is provided at the upper rear portion of the driving device 120 by a supporting bar rotatable by 360 degrees. Preferably, the display 401 may be a touch screen, and has the functions of the input device.

As shown in fig. 24 and 25, the bending angle of the knee joint during ankle training can be adjusted by adjusting the front-rear position and the high-low position of the seat 500, while the leg supporting means 501 can adjust the rotation angle and length to support the lower leg to fit different knee joint bending angles. That is, this structure may be such that the user performs ankle training in different manners under different knee fixing angles.

In one embodiment, as shown in fig. 19, a movable chair armrest 503 is lifted to allow a subject to sit on a chair body 510, the subject's lower leg is placed on a leg support 501, the support is adjusted forward/backward to ensure that the subject's leg is straight, and a chair upper body strap 504 is used to secure the upper body of the person, and the chair armrest 503 can be adjusted up and down. The leg supporting device 501 under the seat can be adjusted back and forth and adjusted in a pitching mode, after adjustment, the sliding block can be locked, the sliding block is loosened anticlockwise, the seat 500 can slide back and forth on the sliding rail 600, and the seat 500 can be moved back and forth to a proper position according to the lengths of legs of different subjects. And after the adjustment, locking the sliding block. By repeatedly pressing the foot pedal lever 505, the telescoping post 508 under the chair is adjusted (see fig. 22), and the chair is adjusted to a proper height according to the height of the subject. The seat can be rotated, and the rotary locking handle D1 is firstly loosened (as shown in fig. 20), and after the seat is rotated to a certain angle, the locking handle D1 is loosened. The backrest of the chair can be adjusted in a pitching mode back and forth according to the needs of a subject, and when the backrest is adjusted, the handle on the side face of the chair is pressed down, and the backrest is pushed to a certain angle and then locked to the handle on the side face. The chair is provided with the safety belt and the thigh binding belt, so that the upper body and the thigh of a subject can be fixed on the chair, and the chair is not easy to shake. The chair armrest can adjust the inclination angle according to the requirement of a subject, the armrest position is fixed by clockwise screwing, and the armrest fastening position is loosened by anticlockwise screwing.

According to another aspect of the present invention, there is provided an ankle joint evaluation method including: securing the foot of the subject to the foot adapter such that the outer ankle bone of the subject is aligned with the axis of the output shaft; detecting the angular position of the foot of the subject when the driving device drives the output shaft to rotate or when the foot of the subject actively moves through the position sensor so as to obtain the position information of the foot of the subject; the position information sent by the signal acquisition module is received by the processing device, an error between the stopping position and the target position of the foot of the subject is calculated based on the position information, and ankle proprioception of the subject is estimated based on the error.

In conjunction with the above description of the ankle assessment apparatus 100 and the ankle assessment system, it will be appreciated that specific embodiments of the ankle assessment method are not described in detail herein.

According to an embodiment of the present invention, the position information includes information related to a first number of stop positions acquired respectively in a first number of first test cycles, calculating, by the processing device, an error between the stop position and the target position of the foot of the subject based on the position information, and evaluating ankle proprioception of the subject based on the error includes: calculating an error between each of the first number of stop positions and the target position to obtain first number of error data, or calculating an average stop position based on the first number of stop positions, respectively; calculating a total error between the first number of stop positions and the target position based on the first number of error data or the average stop position; and assessing the proprioception of the ankle joint of the subject based on the total error.

According to an embodiment of the present invention, the ankle joint evaluation method further includes: and for any first test period in the first number of first test periods, if the time that the change speed of the angular position of the foot of the subject is lower than the preset speed threshold exceeds the preset time threshold, determining that the active movement is stopped, and determining that the stopping position of the foot of the subject at the current moment is one of the first number of stopping positions.

According to an embodiment of the present invention, the ankle joint evaluation device further includes an input device for receiving a motion stop instruction for instructing the active motion stop of the subject, which is input by the user, and the processing device is communicably connected with the input device, and the ankle joint evaluation method further includes: and for any one of the first test periods of the first number, determining that the active movement is stopped and determining that the stopping position of the foot of the subject at the current moment is one of the stopping positions of the first number if a movement stopping instruction corresponding to the active movement is received by the processing device.

According to an embodiment of the invention, each of the first number of stop positions is generated by a passive movement of the foot of the subject by rotation of the foot adapter during a corresponding first test period, the ankle joint evaluation method further comprising: driving, by the driving device, the output shaft to rotate at a preset speed in any one of a first number of first test cycles until a driving stop command is received, the driving stop command being generated based on an active stop command of the subject; and for any first test period in the first number of first test periods, determining that the passive movement is stopped when the output shaft stops rotating, and determining that the stopping position of the foot of the subject at the current moment is one of the first number of stopping positions through the processing device.

According to an embodiment of the present invention, the ankle joint evaluation method further includes: and in any one of the first test periods of the first number, the driving device drives the output shaft to rotate after the active movement or the passive movement stops, so as to drive the foot of the subject to return to a fixed initial position, wherein the initial position is a position of the ankle joint of the subject in a neutral position.

According to an embodiment of the present invention, the ankle joint evaluation device further includes an output device communicably connected with the processing device, and the ankle joint evaluation method further includes: sending, by the processing device, a prompt instruction to the output device when any one of the first number of first test cycles ends; and outputting prompt information based on the prompt instruction through the output device, wherein the prompt information is used for prompting the subject to enter the next first test period or the whole test is ended.

According to an embodiment of the present invention, the ankle joint evaluation method further includes: before a first test period of a first number, the driving device drives the output shaft to rotate so as to drive the foot of the subject to rotate from a fixed initial position until reaching a target position, and drives the output shaft to rotate so as to drive the foot of the subject to return to the initial position when the driving stopping time reaches a preset time, wherein the initial position is a position where the ankle joint of the subject is placed at a neutral position.

According to the embodiment of the invention, the signal acquisition module further comprises a moment sensor, wherein the moment sensor and the output shaft are concentrically arranged on the output shaft and used for detecting moment generated by foot motion of a subject on the output shaft so as to obtain moment information; the ankle joint evaluation method further comprises: and the processing device receives moment information sent by the signal acquisition module, and calculates the ankle joint rigidity of the subject based on the position information and the moment information when the foot of the subject rotates within a preset angle range.

According to an embodiment of the present invention, the position information includes information related to a second number of angular position sets acquired respectively in a second number of second test periods, the moment information includes information related to a second number of moment sets acquired respectively in the second number of second test periods, and angular positions of any two of the second number of angular position sets are identical, wherein the ankle joint evaluation method further includes: driving the output shaft to rotate by the driving device in any one of a second number of second test periods so as to drive the foot of the subject to rotate from the first angle position to the second angle position; selecting, by the processing device, at least one set of moments corresponding to at least one preset angle range from the corresponding moment sets for any one of a second number of second test periods, wherein the at least one preset angle range falls within an angle range covered by an angle position set corresponding to the second test period; for any one of a second number of second test cycles, for each preset angle range within at least one preset angle range, calculating a slope relationship between the moment and the angle based on the preset angle range and a corresponding set of moments to obtain ankle stiffness within the preset angle range; for each preset angle range within at least one preset angle range, calculating an average ankle stiffness within the preset angle range based on the ankle stiffness within the preset angle range calculated for a second number of second test cycles, respectively.

According to another aspect of the present invention, there is provided an ankle joint evaluation apparatus including a processor and a memory.

The memory stores computer program instructions that, when executed by the processor, are configured to perform the steps of: receiving position information of a subject, the position information of the subject being obtained by detecting an angular position of a foot of the subject; calculating an error between a stop position of the foot of the subject and the target position based on the position information; and assessing the proprioception of the ankle joint of the subject based on the error.

The processor is configured to execute the computer program instructions stored in the memory to perform the corresponding steps.

According to another aspect of the present invention there is provided a storage medium having stored thereon program instructions which when executed by a computer or processor are adapted to carry out the steps of: receiving position information of a subject, the position information of the subject being obtained by detecting an angular position of a foot of the subject; calculating an error between a stop position of the foot of the subject and the target position based on the position information; and assessing the proprioception of the ankle joint of the subject based on the error.

The storage medium may include, for example, a memory card of a smart phone, a memory component of a tablet computer, a hard disk of a personal computer, read-only memory (ROM), erasable programmable read-only memory (EPROM), portable compact disc read-only memory (CD-ROM), USB memory, or any combination of the foregoing storage media.

It should be appreciated that the above-described measurement of ankle stiffness may be performed separately from the evaluation of ankle proprioception. For example, the ankle joint evaluation device including the moment sensor and the position sensor described above is still employed, and the ankle joint proprioception may not be evaluated, but the ankle joint rigidity may be directly calculated based on the position information and the moment information, which is also possible.

According to another aspect of the present invention, there is provided an ankle joint evaluation device including: a foot adapter for securing a foot of a subject; the driving device is provided with an output shaft, the foot adapter is connected with the output shaft, and the driving device can drive the foot adapter to rotate by driving the output shaft to rotate, wherein when the foot of the subject is fixed on the foot adapter, the outer malleolus of the subject is aligned with the axis of the output shaft; the signal acquisition module comprises a position sensor and a torque sensor, wherein the position sensor is fixed on the foot adapter and is used for detecting the angular position of the foot of the subject to obtain position information, and the torque sensor and the output shaft are concentrically arranged on the output shaft and is used for detecting the torque generated by the foot motion of the subject to the output shaft to obtain torque information; the processing device is connected with the signal acquisition module in a communication mode, and is used for receiving the position information and the moment information sent by the signal acquisition module and calculating the rigidity of the ankle joint of the subject based on the position information and the moment information when the foot of the subject rotates within a preset angle range.

The preset angle is, for example, 5 °.

The position sensor is illustratively a 9-axis sensor.

Illustratively, the seat body is provided with thigh straps.

Fig. 26 shows a schematic flow chart of an ankle assessment method 2600 according to one embodiment of the present invention. As shown in fig. 26, the ankle joint evaluation method 2600 includes steps S2610, S2620, S2630, and S2640.

In step S2610, the subject 'S foot is secured to the foot adapter such that the subject' S outer ankle bone is aligned with the axis of the output shaft.

In step S2620, the angular position of the foot of the subject when the driving device drives the output shaft to rotate or when the foot of the subject actively moves is detected by the position sensor, so as to obtain the position information of the foot of the subject.

In step S2630, a moment generated by the foot motion of the subject on the output shaft is detected by a moment sensor to obtain moment information.

In step S2640, the processing device receives the position information and the moment information sent by the signal acquisition module, and calculates the ankle stiffness of the subject based on the position information and the moment information when the foot of the subject rotates within the preset angle range.

In conjunction with the description above regarding the ankle assessment device and the ankle assessment system, it will be appreciated that the specific embodiments of the ankle assessment method 2600 will not be repeated here.

According to another aspect of the present invention, there is provided an ankle joint evaluation apparatus. Fig. 27 shows a schematic block diagram of an ankle assessment apparatus 2700 according to one embodiment of the present invention. Ankle assessment apparatus 2700 includes processor 2710 and memory 2720.

The memory 2720 stores computer program instructions that, when executed by the processor 2710, are to perform the following steps: receiving position information and moment information of a subject, wherein the position information is obtained by detecting the angular position of the foot of the subject, and the moment information is obtained by detecting the moment generated by the foot movement of the subject; the ankle stiffness of the subject is calculated based on the position information and the moment information when the foot of the subject rotates within the preset angle range.

The processor 2710 is configured to execute computer program instructions stored in the memory 2720 to perform corresponding steps.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, e.g., the division of the elements is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple elements or components may be combined or integrated into another device, or some features may be omitted or not performed.

Similarly, it should be appreciated that in order to streamline the invention and aid in understanding one or more of the various inventive aspects, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof in the description of exemplary embodiments of the invention. However, the method of the present invention should not be construed as reflecting the following intent: i.e., the claimed invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

It will be understood by those skilled in the art that all of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or units of any method or apparatus so disclosed, may be combined in any combination, except combinations where the features are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that some or all of the functions of some of the modules in an ankle assessment system according to an embodiment of the present invention may be implemented in practice using a microprocessor or Digital Signal Processor (DSP). The present invention can also be implemented as an apparatus program (e.g., a computer program and a computer program product) for performing a portion or all of the methods described herein. Such a program embodying the present invention may be stored on a computer readable medium, or may have the form of one or more signals. Such signals may be downloaded from an internet website, provided on a carrier signal, or provided in any other form.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.

The foregoing description is merely illustrative of specific embodiments of the present invention and the scope of the present invention is not limited thereto, and any person skilled in the art can easily think about variations or substitutions within the scope of the present invention. The protection scope of the invention is subject to the protection scope of the claims.

Claims

1. An ankle joint evaluation device, comprising:

a foot adapter for securing a foot of a subject;

a drive having an output shaft, the foot adapter being connected to the output shaft and being capable of rotating the foot adapter by driving the output shaft in rotation, wherein when the subject's foot is secured to the foot adapter, the subject's lateral malleolus is aligned with the axis of the output shaft;

the signal acquisition module comprises a position sensor and a torque sensor, wherein the position sensor is fixed on the foot adapter and is used for detecting the angular position of the foot of the subject to obtain position information, and the torque sensor is arranged on the output shaft concentrically with the output shaft and is used for detecting the torque generated by the foot motion of the subject to the output shaft to obtain torque information;

the processing device is in communication connection with the signal acquisition module, and is used for receiving the position information and the moment information sent by the signal acquisition module and calculating the ankle joint rigidity of the subject based on the position information and the moment information when the foot of the subject rotates within a preset angle range;

Wherein the position information comprises information related to a second number of sets of angular positions respectively acquired in a second number of second test cycles, the moment information comprises information related to a second number of sets of moments respectively acquired in the second number of second test cycles, the angular positions of any two of the second number of sets of angular positions being identical, wherein,

the driving device is specifically used for:

in any one of the second test periods of the second number, driving the output shaft to rotate so as to drive the foot of the subject to rotate from the first angle position to the second angle position;

the processing device is specifically used for:

for any one of the second number of second test periods,

selecting at least one group of moments corresponding to at least one preset angle range from the corresponding moment sets, wherein the at least one preset angle range falls into an angle range covered by the angle position set corresponding to the second test period;

for each preset angle range in the at least one preset angle range, calculating a slope relationship between the moment and the angle based on the preset angle range and a corresponding set of moments to obtain ankle stiffness in the preset angle range;

For each preset angle range in the at least one preset angle range, calculating average ankle stiffness in the preset angle range based on the ankle stiffness in the preset angle range calculated and obtained for the second number of second test cycles, respectively;

wherein the driving means and the processing means are further for performing a plurality of tests until fluctuation of the slope relation between the moment and the angle satisfies a preset requirement before the processing means calculate the ankle joint stiffness of the subject, wherein the driving means performs an operation consistent with an operation performed in the second test period at each test, and the processing means performs an operation consistent with an operation performed for the second test period for each test.

2. The ankle assessment device of claim 1, wherein one of the first angular position and the second angular position is a plantar Qu Moduan position of the subject and the other is a dorsi-extension end position of the subject.

3. The ankle assessment device according to claim 2, wherein the at least one preset angular range includes one or more of a plantar flexion end range, a dorsiflexion end range, and a plantar flexion 20 ° range, the plantar flexion end range including the plantar Qu Moduan position, the dorsiflexion end range including the dorsiflexion end position, the plantar flexion 20 ° range including a plantar flexion 20 ° position, the magnitude of the angular range covered by one or more of the plantar flexion end range, the dorsiflexion end range, and the plantar flexion 20 ° range each being equal to a preset angle.

4. The ankle joint evaluation device according to claim 3, wherein the preset angle is 5 °.

5. The ankle joint evaluation device according to claim 1, wherein the moment sensor includes a strain body and a signal processing module connected to the strain body, the signal processing module including a circuit board and a preprocessing circuit on the circuit board, wherein,

the strain body is capable of deforming to transmit torque;

the preprocessing circuit is used for acquiring and preprocessing the moment on the strain body so as to obtain moment information;

the position sensor is integrated on the circuit board;

the circuit board is communicably connected with the processing device and is used for transmitting the moment information output by the preprocessing circuit and the position information output by the position sensor to the processing device.

6. The ankle joint evaluation device according to claim 1, wherein the position sensor is a 9-axis sensor.

7. The ankle joint evaluation device according to claim 1, wherein,

the foot adapter comprises an adjustor, an ankle joint position adjusting mechanism, a pedal and a foot fixing piece arranged on the pedal, wherein one end of the ankle joint position adjusting mechanism is connected with the adjustor, and the other end of the ankle joint position adjusting mechanism is connected with the pedal;

8. The ankle joint evaluation device according to claim 7, wherein the position sensor is fixed to a side of the pedal opposite to the foot fixing member.

9. The ankle joint evaluation device according to claim 7, wherein the ankle joint position adjusting mechanism is a cross-connecting rod that is cross-connected together by a first connecting rod and a second connecting rod.

10. The ankle joint evaluation device according to claim 9, wherein a crossing position of the first connecting rod and the second connecting rod is adjustable, the pedal is adjustably connected to an end of the first connecting rod remote from the crossing position, and the adjuster is connected to an end of the second connecting rod remote from the crossing position.

11. The ankle joint evaluation device according to claim 10, wherein an adjustment chute is provided in the second connecting rod along a length direction thereof, the first connecting rod is sleeved on the second connecting rod so as to be slidable along the length direction of the first connecting rod, and a positioning hole for passing a positioning locker corresponding to the adjustment chute is provided in the first connecting rod.

12. The ankle joint evaluation device according to claim 9 or 10, wherein the pedal is connected to the first connecting rod through a pedal fixing member, the pedal fixing member is adjustably provided on the first connecting rod, and an adjustment direction of the pedal fixing member is an up-down direction.

13. The ankle joint evaluation device according to any one of claims 7 to 11, wherein a stopper mechanism that restricts rotational movement of the motor is provided between the regulator and the decelerator, the stopper mechanism including a stopper groove and a stopper block provided on an end face of the regulator opposite to the decelerator, and a roller corresponding to the stopper groove is provided on an end face of the decelerator opposite to the regulator.

14. The ankle joint evaluation device according to any one of claims 7 to 11, wherein the foot fixing member has a shoe shape; or, the foot fixing piece comprises an instep fixing band and a heel limiting band, and the instep fixing band and the heel limiting band are directly arranged on the pedal.

15. An ankle joint evaluation system, comprising:

a sliding base with a sliding rail;

the height adjusting mechanism is arranged on the sliding base;

The ankle joint evaluation device according to any one of claims 1 to 14, which is mounted on the height adjustment mechanism; and

the rotary training seat is arranged on the sliding rail and is adjustable in position relative to the ankle joint evaluation device.

16. The ankle assessment system of claim 15, wherein the rotary training seat comprises a seat body, a seat body floor plate, and a seat lift mechanism, the seat body being mounted to an upper end of the seat lift mechanism by the seat body floor plate.

17. The ankle assessment system according to claim 16, wherein the seat lift mechanism includes a lift drive cylinder, a telescoping post connected to the lift drive cylinder, and a foot lever connected to the lift drive cylinder.

18. The ankle assessing system of claim 17, wherein the lift drive cylinder is disposed on a seat pan, the seat pan being locked to the rail by a seat position lock.

19. The ankle assessment system of claim 16, wherein the rotary training seat further comprises a leg support device, the leg support device comprising:

The leg support frame comprises a telescopic support rod with adjustable length, and one end of the telescopic support rod is pivotally connected with the seat bottom support plate; and

the leg supporting plate is pivotally connected to one end, far away from the leg supporting frame, of the telescopic supporting rod.

20. The ankle assessment system of claim 19, wherein the leg tray includes a leg brace for supporting the subject's leg and a leg securing strap disposed on the leg brace.

21. The ankle assessment system according to claim 16, wherein the seat body has a thigh strap disposed thereon.

22. The ankle assessment system of claim 15, wherein the sliding base is locked to the rail by a host position lock on a side of the sliding base facing away from the swivel training seat.

23. The ankle assessment system of claim 15, wherein the rail comprises a first rail and a second rail that interface into a T-shaped rail.

24. The ankle assessment system as set forth in claim 15, wherein the ankle assessment system further comprises:

The display device is adjustably supported above the driving device through a screen bracket.

25. An ankle joint evaluation method applied to an ankle joint evaluation device including a foot adapter, a driving device having an output shaft, the foot adapter being connected to the output shaft, and the driving device being capable of driving the foot adapter to rotate by driving the output shaft to rotate, a signal acquisition module including a position sensor fixed to the foot adapter and a torque sensor disposed concentrically with the output shaft on the output shaft, and a processing device communicably connected to the signal acquisition module, wherein the ankle joint evaluation method includes:

securing a foot of a subject to the foot adapter such that a lateral malleolus of the subject is aligned with an axis of the output shaft;

detecting the angular position of the foot of the subject when the driving device drives the output shaft to rotate or when the foot of the subject actively moves through the position sensor so as to obtain the position information of the foot of the subject;

Detecting a moment generated by foot motion of the subject on the output shaft through the moment sensor to obtain moment information;

receiving the position information and the moment information sent by the signal acquisition module through the processing device, and calculating the ankle joint rigidity of the subject based on the position information and the moment information when the feet of the subject rotate within a preset angle range;

the detecting, by the position sensor, the angular position of the foot of the subject when the driving device drives the output shaft to rotate or when the foot of the subject actively moves, so as to obtain position information of the foot of the subject, includes:

in any one of the second test periods of the second number, driving the output shaft to rotate through the driving device so as to drive the foot of the subject to rotate from a first angle position to a second angle position;

The calculating the ankle joint stiffness of the subject based on the position information and the moment information when the foot of the subject rotates within a preset angle range includes:

for any one of the second number of second test periods,

wherein, the ankle joint evaluation method further comprises:

before the ankle joint stiffness of the subject is calculated by the processing means, a plurality of tests are performed by the driving means and the processing means until the fluctuation of the slope relation between the moment and the angle satisfies a preset requirement, wherein an operation consistent with an operation performed in the second test period is performed by the driving means at each test, and an operation consistent with an operation performed for the second test period is performed by the processing means for each test.

26. An ankle assessment device, comprising a processor and a memory, wherein the memory has stored therein computer program instructions which, when executed by the processor, are operable to perform the steps of:

receiving position information and moment information of a subject, wherein the position information is obtained by detecting the angular position of the foot of the subject, and the moment information is obtained by detecting moment generated by foot motion of the subject;

calculating ankle stiffness of the subject based on the position information and the moment information when the foot of the subject rotates within a preset angle range;

wherein, during any one of the second number of second test cycles, the foot of the subject rotates from a first angular position to a second angular position; the computer program instructions, when executed by the processor, for performing the step of calculating the ankle stiffness of the subject based on the position information and the moment information when the foot of the subject is rotated within a preset angular range, comprising:

For any one of the second number of second test periods,

wherein the computer program instructions, when executed by the processor, are further for performing: performing a plurality of tests until fluctuations in the slope relationship between the moment and angle meet a preset requirement, prior to calculating the ankle stiffness of the subject, wherein an operation consistent with the operation performed for the second test period is performed for each test; wherein the foot of the subject rotates from a first angular position to a second angular position at each test.

27. A storage medium having stored thereon program instructions, which when executed, are adapted to perform the steps of:

wherein, during any one of the second number of second test cycles, the foot of the subject rotates from a first angular position to a second angular position; the program instructions are operable to perform a step of calculating an ankle stiffness of the subject based on the position information and the moment information when the foot of the subject is rotated within a preset angular range, comprising:

For any one of the second number of second test periods,

wherein the program instructions, when executed, are further to perform: performing a plurality of tests until fluctuations in the slope relationship between the moment and angle meet a preset requirement, prior to calculating the ankle stiffness of the subject, wherein an operation consistent with the operation performed for the second test period is performed for each test; wherein the foot of the subject rotates from a first angular position to a second angular position at each test.