CN119074485B - A bionic external tendon device and method for foot and ankle coordinated assistance and training - Google Patents
A bionic external tendon device and method for foot and ankle coordinated assistance and trainingInfo
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- CN119074485B CN119074485B CN202411372639.2A CN202411372639A CN119074485B CN 119074485 B CN119074485 B CN 119074485B CN 202411372639 A CN202411372639 A CN 202411372639A CN 119074485 B CN119074485 B CN 119074485B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/08—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs for ankle joints
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/10—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs for feet or toes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
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- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Physical Education & Sports Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Epidemiology (AREA)
- Biophysics (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Animal Behavior & Ethology (AREA)
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Abstract
The application belongs to the field of ankle assisting and training devices, and particularly discloses a bionic external tendon device and method for ankle cooperative assisting and training, wherein the bionic external tendon device comprises a front sole sheath, a rear heel sheath, a shank sheath, an external tendon rope group, a limiting mechanism and a power mechanism; one end of the second outer tendon rope is connected to the top of the front sole sheath, passes through the guide holes on the front side of the calf sheath and then is connected with the power mechanism. The foot pedal device can realize multidimensional cooperative movement of the foot and the ankle joint and hierarchical control of plantar tension and ankle joint auxiliary force, and improves the boosting and training effects through cooperative movement of the ankle.
Description
Technical Field
The application belongs to the field of ankle assisting and training devices, and particularly relates to a bionic external tendon device and method for ankle cooperative assisting and training.
Background
The ankle joint movement auxiliary device can improve the movement capacity of a human body, reduce metabolic energy, perform rehabilitation training on the ankle joint and accelerate healing and rehabilitation processes of damaged tissues, so that the ankle joint movement auxiliary device is needed to be used for assisting in improving the movement performance and ankle joint rehabilitation training.
The prior ankle assisting and training device is mostly limited to be capable of controlling the ankle, for example, the exoskeleton of the ankle is mainly used for providing assistance for plantar flexion movement of the ankle, and the important points are to improve gait stability and reduce energy consumption. However, with further improvement of the requirements on exercise performance and increase of the requirements on rehabilitation or orthopedic exercise of patients, the requirement on complex exercise and rehabilitation scenes cannot be met by single-dimensional exercise assistance, and there is a great need to design an ankle assisting and training device capable of multi-dimensional exercise control.
Disclosure of Invention
Aiming at the defects of the prior art, the application provides a bionic external tendon device and a bionic external tendon method for ankle cooperative assistance and training, and aims to solve the problems that the prior ankle training device realizes single-dimension exercise assistance, so that the assistance and rehabilitation training effect is poor and the ankle rehabilitation time is prolonged.
The bionic tendon device for the ankle cooperative power assisting and training comprises a front sole sheath, a heel sheath, a shank sheath, an tendon rope group, a limiting mechanism and a power mechanism, wherein the tendon rope group comprises two first tendon ropes and one second tendon rope, one ends of the two first tendon ropes are respectively connected with two sides of the bottom of the front sole sheath, the first tendon ropes are parallel to the sole to reach the heel and upwards led out to pass through guide holes in the rear sides of the heel sheath and the shank sheath in sequence and then are fixedly connected with the output end of the power mechanism, one end of the second tendon rope is connected to the top of the front sole sheath, the second tendon rope passes through the guide holes in the front sides of the shank sheath and then is fixedly connected with the output end of the power mechanism, the power mechanism pulls any one first tendon rope or two tendon ropes simultaneously to pull the first tendon ropes to drive the sole sheath to move, and the second tendon rope are provided with a limit mechanism for limiting the movement of the tendon rope.
Compared with the prior art, the multi-dimensional motion control of the foot and the ankle joint can be realized by adopting the design that the power mechanism is adopted to pull the first external tendon rope and the second external tendon rope, so that the stable motion of the foot and the ankle joint in a plurality of directions such as varus, valgus, plantar flexion, dorsiflexion and the like is ensured, the mode provides high-efficiency mechanical conduction, ensures the stability and flexibility of the foot and the ankle joint in motion, is suitable for ankle rehabilitation and motion assistance, improves gait stability, improves comfortableness and motion efficiency through cooperative motion of the ankle, and can obtain the beneficial effects of improving boosting and rehabilitation training and shortening ankle joint rehabilitation time; meanwhile, the foot and ankle joint grading control is realized through the setting of the limiting mechanism, personalized adjustment can be carried out according to different rehabilitation stages of a patient, excessive stress of toe areas is effectively avoided, natural movement of the foot and the ankle joint is ensured, and the rehabilitation training effect is further improved.
As a further preferable aspect, the two first external tendon ropes are disposed so as to intersect at a position between the forefoot sheath and the heel sheath.
Through adopting above-mentioned technical scheme, two first outer tendon ropes alternately set up, when arbitrary first outer tendon rope was pulled, can produce extrusion to plantar horizontal and vertical arch, strengthen the rigidity of foot to improve the support ability and the stability of foot, this function is particularly useful for helping hand and the recovered scene that need the arch to correct, helps promoting foot bearing capacity, adaptation different motion demands.
As a further preferable mode, the rear heel sheath is provided with two first guide holes which are arranged in the vertical direction and are parallel to each other, the calf sheath is provided with two second guide holes which are arranged in the vertical direction and are parallel to each other, and the first external tendon rope sequentially passes through the first guide holes and the second guide holes on the same side and then is connected with the power mechanism.
Through adopting above-mentioned technical scheme, first outer tendon rope passes the first guiding hole on the heel sheath and the second guiding hole on the same side shank sheath, makes it lay neatly, and is more stable when pulling again, avoids causing the mutual interference.
As a further preferable mode, the two positions of the first external tendon ropes which are arranged in a crossing way are sleeved with anti-wear sleeves.
Through adopting above-mentioned technical scheme, adopt the abrasionproof cover to protect first outer tendon rope, avoid two first outer tendon ropes to move each other, influence life after wearing and tearing many times.
As a further preferable aspect, the limit mechanism abuts against the heel sheath or the calf sheath after the first or second tendon rope moves, and the limit mechanism is adjusted to realize the hierarchical control of the plantar tension and the ankle joint assisting force.
By adopting the technical scheme, the positions of the limiting mechanisms are adjusted, the stress of the foot and the ankle joint can be respectively adjusted, when the first external tendon rope is pulled, the limiting mechanisms are abutted against the heel jackets, so that the maximum auxiliary force Fa applied to the foot sole is achieved, when the force applied by the external tendon rope is smaller than or equal to Fa, the stress of the foot and the ankle joint is the same, when the force applied by the external tendon rope is larger than Fa, the stress of the foot is limited to Fa, namely the maximum tension of the foot sole is applied by the external tendon, the rest force is borne by the ankle joint, when the first external tendon rope is pulled, the limiting mechanisms are abutted against the shank straps, the limit positions of plantar flexion of the ankle joint can be limited, and the force of the plane of the foot sole and the auxiliary force of the ankle joint are effectively distributed by adopting a hierarchical control mechanism, so that support of cooperative movement of the foot sole is achieved, assistance and training of inherent muscles of the foot sole are promoted, and movement and supporting capacity of the foot are promoted. When the second external tendon rope is pulled, the limiting mechanism is abutted with the shank binding band, and the dorsiflexion limit position of the ankle joint can be limited.
As a further preferable mode, the limiting mechanism comprises a limiting sleeve and a threaded locking piece, the limiting sleeve is sleeved on the first outer tendon rope or the second outer tendon rope, the threaded locking piece is in threaded connection with the corresponding limiting sleeve, and the threaded locking piece can be abutted with the first outer tendon rope or the second outer tendon rope in a rotating mode.
Through adopting above-mentioned technical scheme, the position of slip stop collar on outer tendon rope is adjusted to carry out the butt through rotating screw thread retaining member and outer tendon rope, thereby make the fixed position of stop collar, convenient operation is swift, is convenient for adjust the position of stop collar.
As a further preferable aspect, one end of the first or second external tendon rope is fixedly connected with the forefoot sheath.
Through adopting above-mentioned technical scheme, the device wholeness is better, is convenient for store and carry, and is more stable when first outer tendon rope or second outer tendon rope pulling front sole sheath simultaneously.
As a further preferable mode, the heel protector is also provided with a binding band for fixing the foot and the heel protector.
Through adopting above-mentioned technical scheme, the connection is more stable when wearing heel sheath for the foot to improve training effect.
As a further preferred aspect, the power mechanism includes three motors, and the ends of the first and second tendon ropes are fixedly connected with the output shafts of the three motors, respectively.
By adopting the technical scheme, one or two of the three motors are started according to the use requirement, so that the first external tendon rope and the second external tendon rope are conveniently controlled and pulled, and the control is convenient and stable.
The application provides a ankle cooperative assisting and training method, which adopts the bionic external tendon device and comprises the following steps:
S1, sequentially wearing a front sole sheath, a rear heel sheath and a lower leg sheath;
S2, adjusting the limiting mechanism, so that when the power mechanism pulls the first external tendon ropes or the second external tendon ropes, the maximum length of the movement of the limiting mechanism is a preset value, and after the power mechanism pulls the two first external tendon ropes in sequence, the power mechanism pulls the two first external tendon ropes simultaneously, and pulls the second external tendon ropes after releasing the first external tendon ropes, and repeating for a plurality of times;
s3, adjusting the limiting mechanism to enable the maximum length of the movement of the limiting mechanism to be increased when the power mechanism pulls the first external tendon rope or the second external tendon rope;
s4, the power mechanism pulls the two first external tendon ropes in sequence and then pulls the two first external tendon ropes at the same time, and pulls the second external tendon rope after releasing the first external tendon ropes, so that the process is repeated for a plurality of times;
And S5, repeating the steps S3 and S4 according to the assistance and training process and user feedback until the ankle cooperative assistance and training are completed.
In general, compared with the prior art, the above technical solution conceived by the present application mainly has the following technical advantages:
1. According to the application, the power mechanism is adopted to pull the first external tendon rope and the second external tendon rope, and the first external tendon rope is crossed, so that the foot and the ankle joint of a user are pulled through the first external tendon rope and the second external tendon rope, multidimensional movement control is performed, the ankle joint performs cooperative movement, stable movement of the ankle joint in multiple directions such as varus, valgus, plantarflexion and dorsiflexion is ensured, the mode provides high-efficiency mechanical conduction, stability and flexibility of the foot and the ankle joint in movement are ensured, the power assisting and rehabilitation and movement assisting device is suitable for assisting the foot and the ankle joint, the gait stability and the movement efficiency are improved by optimizing the cooperative movement of the foot and the ankle joint, the effect of assisting and rehabilitation training is improved, the beneficial effect of the ankle joint recovery time is shortened, meanwhile, the maximum movement length of the rope between the starting point of the first external tendon rope or the second external tendon rope and the limit mechanism is limited, the stress of the ankle joint and the ankle joint can be reasonably distributed under different stress conditions, the foot and ankle joint can be subjected to personalized regulation according to different stress conditions, the overstress of the foot and the ankle joint can be avoided, and the overstrain effect of the foot and the rehabilitation training is ensured, and the overstress of the foot is improved.
2. According to the foot ankle joint supporting device, the stress of the foot and the stress of the ankle joint can be respectively regulated by regulating the positions of the limiting mechanisms, when the first outer tendon rope is pulled, the limiting mechanisms are abutted with the heel jackets, so that the maximum auxiliary force Fa applied to the foot sole is enabled, when the force applied by the outer tendon rope is smaller than Fa, the stress of the foot and the stress of the ankle joint are the same, when the force applied by the outer tendon rope is larger than Fa, the stress of the foot is limited to Fa, the rest force is borne by the ankle joint, when the first outer tendon rope is pulled, the limiting mechanisms are abutted with the shank straps, the limit position of plantar flexion of the ankle joint can be limited, when the second outer tendon rope is pulled, the limiting mechanisms are abutted with the shank straps, the limit position of dorsiflexion of the ankle joint can be limited, and the force of a plantar plane and the auxiliary force of the ankle joint are effectively distributed by adopting a hierarchical control mechanism, so that the support of the cooperative motion of the foot ankle is realized, the inherent muscles of the foot sole are promoted, and the motion and the supporting capacity of the foot is promoted.
3. In the process of assistance and rehabilitation training, because two first external tendon ropes are arranged in a crossing mode, when any one first external tendon rope is pulled, the two first external tendon ropes can produce extrusion action on the lateral and longitudinal foot arches of the foot sole, the tension at the two ends and the left side and the right side of the foot sole is increased, and accordingly the rigidity of the foot is enhanced, the supporting capacity and the stability of the foot are improved.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a bionic external tendon apparatus according to an embodiment of the present application;
Fig. 2 is a schematic diagram of the overall structure of a limiting mechanism according to an embodiment of the present application;
FIG. 3 is a schematic view of a foot force provided by an embodiment of the present application;
FIG. 4 is a schematic diagram of a position change of a limiting mechanism according to an embodiment of the present application;
FIG. 5 is a schematic view of the overall structure of a power mechanism according to an embodiment of the present application;
fig. 6 is a schematic front view of a bionic external tendon device according to an embodiment of the present application.
The same reference numbers are used throughout the drawings to reference like elements or structures, wherein:
1. The sole comprises a front sole sheath, a rear heel sheath, a first guide hole, a 3, a lower leg sheath, a 31, a second guide hole, a 4, an external tendon rope group, a 4-1, a first external tendon rope, a 4-2, a second external tendon rope, a 5, a limiting mechanism, a 51, a limiting sleeve, a 52, a thread locking member, a 6, a power mechanism, a 61 and a motor.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
Referring to fig. 1, the bionic external tendon device for ankle cooperative power assisting and training disclosed by the application comprises a front sole sheath 1, a rear heel sheath 2, a shank sheath 3, an external tendon rope set 4, a limiting mechanism 5 and a power mechanism 6, wherein the front sole sheath 1 is worn at a front foot position when in use, the rear heel sheath 2 is worn at a heel position when in use, the shank sheath 3 is worn at a shank position when in use, the rear heel sheath 2 is provided with a binding belt, the rear heel sheath 2 and a foot are fixed through the binding belt, and the movement of the foot and the movement of the shank are connected through the external tendon rope set 4, so that cooperative power assisting and training are realized.
In this embodiment, the tendon rope group 4 includes two first tendon ropes 4-1 and one second tendon rope 4-2, the first tendon ropes 4-1 and the second tendon ropes 4-2 are steel wire ropes, one ends of the two first tendon ropes 4-1 are respectively and fixedly connected with two sides of the bottom of the front sole sheath 1, the first tendon ropes 4-1 reach the heel parallel to the sole and are led upwards to pass through the guide holes on the rear sides of the rear heel sheath 2 and the calf sheath 3 in sequence and then are fixedly connected with the output end of the power mechanism 6, the two first tendon ropes 4-1 are arranged at the position between the front sole sheath 1 and the rear heel sheath 2 in a crossing manner, one ends of the second tendon ropes 4-2 are connected to the top of the front sole sheath 1, and the second tendon ropes 4-2 pass through the guide holes on the front side of the calf sheath 3 and then are fixedly connected with the output end of the power mechanism 6. Specifically, the heel sheath 2 is provided with a first positioning block by integral forming, the first positioning block is provided with two first guiding holes 21 which are arranged in the vertical direction and are parallel to each other, the calf sheath 3 is provided with a second positioning block by integral forming, the second positioning block is provided with two second guiding holes 31 which are arranged in the vertical direction and are parallel to each other, the first outer tendon rope 4-1 sequentially passes through the first guiding holes 21 and the second guiding holes 31 on the same side and then is connected with the power mechanism 6, and the first outer tendon rope 4-1 is parallel to the calf. In the power assisting and rehabilitation training, the user's foot and ankle joint perform dorsiflexion and varus and valgus plantar flexion of the ankle joint by traction of the first and second external tendon ropes 4-1 and 4-2. The lower leg sheath 3 is also integrally formed with a third positioning block, a third guide hole arranged along the vertical direction is formed in the third positioning block, the second outer tendon rope 4-2 at the top of the front sole sheath 1 can be used for assisting dorsiflexion movement of the ankle joint, and the second outer tendon rope 4-2 is provided with a limiting mechanism 5 for limiting the dorsiflexion limit position of the ankle joint.
In another possible embodiment, one ends of the first outer tendon rope 4-1 and the second outer tendon rope 4-2 are connected with the front sole sheath 1 through a magic tape, specifically, the bottom of the front sole sheath 1 is fixedly connected with a magic tape surface, one ends of the two first outer tendon ropes 4-1 and the second outer tendon rope 4-2 are fixedly connected with a magic tape hook surface, the magic tape hook surface is adhered to the magic tape surface during connection, in this way, the front sole sheath 1 can be replaced according to the difference of the sizes of the feet of a user, the user wears the front sole sheath 1 more appropriately, and the first outer tendon rope 4-1 and the second outer tendon rope 4-2 can be connected to the front sole sheath 1 through a buckle.
Specifically, the power mechanism 6 pulls any one of the first external tendon ropes 4-1 or the second external tendon ropes 4-2 or pulls two first external tendon ropes 4-1 simultaneously to pull the front sole sheath 1 to drive the ankle to move, the power mechanism 6 comprises three motors 61, the end parts of the first external tendon ropes 4-1 and the second external tendon ropes 4-2 are fixedly connected with output shafts of the three motors 61 respectively, one or two of the three motors 61 are started according to use requirements, and the first external tendon ropes 4-1 and the second external tendon ropes 4-2 are conveniently controlled to be pulled.
More specifically, initially, the first external tendon rope 4-1 is in a basic tension state, the foot and the ankle joint are not subjected to obvious external traction, the limiting mechanism 5 is positioned near the rope threading hole of the heel pad, and when the user starts to perform rehabilitation training, the first external tendon rope 4-1 starts to act, and the first external tendon rope 4-1 drives the foot and the ankle joint to perform multidimensional movement through mechanical traction. Specifically, the two first external tendon ropes 4-1 can drive the ankle joint to complete plantar flexion, when the first external tendon rope 4-1 on the outer side of the ankle joint is pulled, the ankle joint can be driven to evert and simultaneously drive the inner side of the front sole to generate cooperative motion, when the first external tendon rope 4-1 on the inner side of the ankle joint is pulled, the ankle joint is mainly driven to evert and drive the outer side of the front sole to generate corresponding cooperative motion, and when the power mechanism pulls the second external tendon rope 4-2, the ankle joint dorsiflexion can be assisted.
Further, the first external tendon rope 4-1 and the second external tendon rope 4-2 are respectively provided with a limiting mechanism 5, the positions of the limiting mechanisms 5 are adjusted, the stress of the foot and the ankle joint can be adjusted in a grading manner, the limiting mechanisms 5 are used for limiting the maximum length of rope movement between the starting point of the first external tendon rope 4-1 or the second external tendon rope 4-2 and the limiting mechanisms 5, when the limiting mechanisms 5 are in butt joint with the heel sheath 2, the maximum movement length of the external tendon rope 4 from the front sole sheath 1 to the limiting mechanisms 5, namely, the maximum tension of the sole is limited, and particularly, when the first external tendon rope 4-1 is pulled, the limiting mechanisms 5 are in butt joint with the bottom surface of the first positioning block on the heel sheath 2. Further, the limiting mechanism 5 includes two limiting sleeves 51 and a threaded locking member 52, the limiting sleeves 51 are sleeved on the first external tendon ropes 4-1 or the second external tendon ropes 4-2, the threaded locking member 52 is in threaded connection with the corresponding limiting sleeve 51, the threaded locking member 52 can abut against the first external tendon ropes 4-1 or the second external tendon ropes 4-2, the sliding limiting sleeve 51 adjusts the position of the limiting sleeve on the first external tendon ropes 4-1 or the second external tendon ropes 4-2, and abuts against the first external tendon ropes 4-1 through rotating the threaded locking member 52, so that the position of the limiting sleeve 51 is fixed, the maximum auxiliary force Fa applied to the sole can be adjusted through adjusting the position of the limiting sleeve 51, specifically, fa is not more than 100N, a specific value can be determined according to actual needs, and Fa is 55N in the embodiment. When the force exerted by the first external tendon rope 4-1 is smaller than or equal to Fa, the force exerted by the foot and the ankle joint is the same, when the force exerted by the first external tendon rope 4-1 is larger than Fa, the heel protector 2 is pulled directly through the limit sleeve 51, the force exerted by the foot is limited to Fa, the rest force is born by the ankle joint, when the limit mechanism 5 is abutted against the shank protector 3, the limit position of plantar flexion of the ankle joint can be limited, the force of the plantar surface and the auxiliary force of the ankle joint are effectively distributed by adopting a hierarchical control mechanism, the foot is ensured not to bear excessive pressure, thereby avoiding excessive stress of toes, realizing support of cooperative movement of the foot and the ankle, promoting training of inherent muscles of the foot and being beneficial to improving the movement and supporting capacity of the foot. When the second external tendon rope 4-2 is pulled and the limiting mechanism 5 is abutted with the calf sheath 3, the limit position of dorsiflexion of the ankle joint can be realized.
Further, referring to fig. 3, the two first external tendon ropes 4-1 are disposed in a crossing manner at a position between the forefoot sheath 1 and the heel sheath 2, and in a state where the two first external tendon ropes 4-1 are disposed in a crossing manner, the ankle multidimensional exercise control effect is better, and when any one of the first external tendon ropes 4-1 is pulled, the first external tendon rope 4-1 is disposed in an inclined manner, so that the force of the first external tendon rope 4-1 is decomposed, and under the action of the tension of the first external tendon rope 4-1, the inherent muscles close to the forefoot and the heel are squeezed into the foot, so that the lateral and longitudinal arch of the foot can be squeezed, the rigidity of the foot can be enhanced, thereby improving the supporting capability and stability of the foot.
In the application, not only the mechanical control of ankle movement is realized through the first external tendon rope 4-1 and the second external tendon rope 4-2, but also the inherent muscles of the sole and the external muscles of the lower leg are activated through the mechanical action, so that the defect of the existing rehabilitation device in the aspect of inherent muscle training is overcome, and in the rehabilitation training process, the inherent muscles of the sole participate in movement under the passive traction, so that the cooperative training of the inherent muscles of the sole and the external muscles of the lower leg is formed, the reinforcement is realized, the recovery of the strength and the flexibility of the foot is facilitated, wherein the inherent muscles originate from the foot and terminate in the muscle of the foot, and the external muscles originate from the leg and span the ankle joint and are attached to the muscle of the foot.
The application also discloses a ankle cooperative assisting and training method, which comprises the following steps:
S1, sequentially wearing a front sole sheath 1, a heel sheath 2 and a lower leg sheath 3;
s2, adjusting the limiting mechanism 5, when the power mechanism 6 pulls the first external tendon rope 4-1 or the second external tendon rope 4-2, the maximum length of the movement of the limiting mechanism 5 is a preset value L1, L1 is 10mm, at the moment, pulling the first external tendon rope 4-1 to enable the limiting sleeve 51 to be abutted with the heel jacket 2, enabling the maximum auxiliary force Fa applied to the sole of foot to be 55N, when the force applied by the external tendon rope 4 is smaller than or equal to Fa, the stress of the foot and the ankle joint is the same, when the force applied by the external tendon rope 4 is larger than Fa, the stress of the foot is limited to Fa, the rest force is borne by the ankle joint, starting the power mechanism 6 to sequentially pull the first external tendon ropes 4-1 and then simultaneously pull the two first external tendon ropes 4-1, releasing the first external tendon ropes 4-1 and then pulling the second external tendon ropes 4-2, enabling the power mechanism 6 to pull the second external tendon ropes 4-2 to assist the ankle joint to dorsiflex and then to be abutted with the shank jacket 3 through the limiting mechanism 5, limiting the dorsiflexion limit the limit position of the ankle joint, and repeating for a plurality of times;
S3, adjusting a limiting mechanism 5 according to the requirement of actual rehabilitation training, so that when the power mechanism 6 pulls the first external tendon rope 4-1 or the second external tendon rope 4-2, the maximum length of movement of the limiting mechanism 5 is increased to L2, L2 is larger than L1, in the embodiment, L2 is 15mm, namely, the increment of the maximum length of movement of the power mechanism 6 pulling the external tendon rope 4 is 5mm, at the moment, the limiting sleeve 51 is abutted with the heel sheath 2 by pulling the external tendon rope 4, so that the maximum auxiliary force Fb applied to the sole of foot is larger than Fa, fb is 65N in the embodiment, when the force applied by the external tendon rope 4 is smaller than or equal to Fb, the stress of the foot and the ankle joint is the same, and when the force applied by the external tendon rope 4 is larger than Fb, the stress of the foot is limited to Fb, and the rest force is born by the ankle joint;
S4, starting the power mechanism 6 again, pulling the two first external tendon ropes 4-1 in sequence, then pulling the two first external tendon ropes 4-1 at the same time, releasing the first external tendon ropes 4-1, and then pulling the second external tendon ropes 4-2, and repeating for a plurality of times;
s5, repeating the steps S3 and S4 according to the power assisting and rehabilitation training process and user feedback, and enabling the increment of the maximum length of the movement of the first external tendon rope 4-1 pulled by the power mechanism 6 to be gradually decreased after each adjustment of the limiting mechanism 5, wherein if the limiting mechanism 5 is adjusted again, the increment of the maximum length of the movement of the first external tendon rope 4-1 pulled by the power mechanism 6 is increased to L3, and L3 is 18mm, namely the increment of the maximum length of the movement of the first external tendon rope 4-1 pulled by the power mechanism 6 is 3mm, so that the user can conveniently accept the power assisting and rehabilitation training until the ankle is assisted by the user.
It is to be understood that the terms "comprises" and "comprising," as used in this specification, mean the presence of the disclosed function, operation, or element, and is not limited to one or more additional functions, operations, and elements. In the present application, terms such as "comprising" and/or "having" may be construed to mean a particular feature, number, operation, constituent element, component, or combination thereof, but may not be construed to exclude the presence or addition of one or more other features, numbers, operations, constituent elements, components, or combination thereof.
It should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate describing the application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected via an intervening medium, or in communication between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the application and is not intended to limit the application, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the application are intended to be included within the scope of the application.
Claims (8)
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| CN209966958U (en) * | 2019-01-04 | 2020-01-21 | 南京工程学院 | Lower limb exoskeleton assistance rehabilitation device |
| CN117679291A (en) * | 2023-12-22 | 2024-03-12 | 华中科技大学 | An ankle joint exoskeleton that assists and enhances joint stability |
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| WO2010117827A2 (en) * | 2009-03-31 | 2010-10-14 | Prasad Gourineni | Achilles and foot arch stretching devices and methods performed therewith |
| US10390973B2 (en) * | 2015-05-11 | 2019-08-27 | The Hong Kong Polytechnic University | Interactive exoskeleton robotic knee system |
| EP3342390A1 (en) * | 2016-12-29 | 2018-07-04 | ETH Zurich | Apparatus for supporting a limb of a user against gravity |
| CN108186287A (en) * | 2018-02-01 | 2018-06-22 | 东南大学 | Multiple degrees of freedom energy storage foot mechanism |
| JP7150299B2 (en) * | 2018-02-21 | 2022-10-11 | 好洋 山田 | walking aid |
| CN209316189U (en) * | 2018-09-04 | 2019-08-30 | 王平 | A kind of ankle fusing device |
| CN109481114B (en) * | 2018-11-27 | 2023-09-26 | 中国科学院合肥物质科学研究院 | An ankle-foot orthosis with adjustable degrees of freedom for stroke patients |
| DE102019121234B3 (en) * | 2019-08-06 | 2021-01-07 | Ottobock Se & Co. Kgaa | Orthopedic device |
| CN112775932A (en) * | 2019-11-08 | 2021-05-11 | 远也科技 | Ankle assisting exoskeleton device |
| US20240285463A1 (en) * | 2021-02-23 | 2024-08-29 | Chung Ang University Industry Academic Cooperation Foundation | Biomimetic lightweight wearable suite and wearable suit design method |
| CN116211646A (en) * | 2023-02-17 | 2023-06-06 | 陈建喜 | A multifunctional passive active and passive rehabilitation training device for lower limbs |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN209966958U (en) * | 2019-01-04 | 2020-01-21 | 南京工程学院 | Lower limb exoskeleton assistance rehabilitation device |
| CN117679291A (en) * | 2023-12-22 | 2024-03-12 | 华中科技大学 | An ankle joint exoskeleton that assists and enhances joint stability |
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