CN105250113A - Six-degree of freedom wearable ankle rehabilitation medical robot - Google Patents
Six-degree of freedom wearable ankle rehabilitation medical robot Download PDFInfo
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- CN105250113A CN105250113A CN201510405101.1A CN201510405101A CN105250113A CN 105250113 A CN105250113 A CN 105250113A CN 201510405101 A CN201510405101 A CN 201510405101A CN 105250113 A CN105250113 A CN 105250113A
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Abstract
The invention discloses a six-degree of freedom wearable ankle rehabilitation medical robot comprising an upper platform, a lower platform, a pedestal and a cylinder. The upper platform is formed by a center sleeve and an external rigid structure fixedly connected with the center sleeve and worn and fixed on a patient leg part; the lower platform is fixedly connected with a shoe and worn and fixed on a patient leg part; six cylinders are respectively connected with the upper platform and the lower platform via a hook joint and a spherical hinge; a long groove on the upper end of the pedestal is in a slideable connection with a slide block around the upper platform; a boss in the center of the pedestal is connected with the bottom of the center of the lower platform via a spherical hinge; and telescopic operations of six cylinders are controlled by a computer system via a human-machine operation interface. By the use of the six-degree of freedom wearable ankle rehabilitation medical robot, the ankle can rotate in various directions; the robot can be worn; and the height of the lower platform can be adjusted according to the length of a patient leg, so patient ankle rehabilitation can be facilitated.
Description
Technical field
The present invention relates to a kind of wearable ankle rehabilitation medical robot, belong to rehabilitation medical robot field.
Background technology
Ankle from sprains is that a kind of very common physical culture is sick and wounded, and when ankle or foot are because of when overturning, sprain or be subject to excessive external force, the ligament around ankle joint also can be subject to excessive tensile or be torn.When spraining serious, carrying out ankle motility training at the process need of rehabilitation, namely allowing ankle joint move within the specific limits.At present, mainly repeatedly rotate with certain direction and speed patient's ankle position with hands by doctor in Chinese ankle rehabilitation training, the process of medical treatment is also held primarily of the experience of doctor.But, doctor's limited amount and patient more time just not easily make all patients all obtain rehabilitation training timely, just have wish to improve the efficiency of rehabilitation and effect very greatly if now carry out rehabilitation by medical machinery.Along with the development of medical machinery, Many researchers utilizes the achievement in research of the subjects such as mechanics, mechanics, electromagnetism, robotics, the recovery training method that integrative medicine Design Theory makes new advances.Rehabilitation medical robot can help patient to carry out science and effective rehabilitation training to recover the motion function of its damage location as a kind of automatization rehabilitation medicine equipment.Domestic more existing patent achievements for ankle rehabilitation at present, and these achievements all have limitation definitely, if the degree of freedom of motion is less, simulation doctor therapeutic process scarce capacity, fixing not steadily, dress comfortable not etc.
Summary of the invention
Invent mainly in ankle from sprains patient, and based on six-degree-of-freedom parallel connection mechanism, carry out Machine Design in conjunction with robotics, kinesiology, ergonomics scheduling theory, propose a kind of ankle rehabilitation medical robot with multiple degrees of freedom training direction, multi-modal training form, Wearable.
In order to achieve the above object, the present invention proposes a plan as follows:
The frame for movement of the wearable ankle rehabilitation medical robot of six degree of freedom of the present invention comprises upper mounting plate (fixed platform), lower platform (moving platform), base, cylinder (pneumatic linear actuator, hydraulic cylinder or electric cylinder).Upper mounting plate is connected by cylindrical central sleeve and outside rigid structure and is formed, and is fixed on patient legs by dressing; Lower platform and footwear are fixedly linked, by dressing the foot portion of immobilized patients; Six cylinders are connected with upper and lower platform with ball pivot respectively by Hooke's hinge; The elongated slot of base upper end is connected with the skid around upper mounting plate, and the boss at base center is connected with ball pivot with lower platform centre bottom; The flexible of six cylinders is controlled by man machine operation interface by computer system.The effect that can realize has: can make that ankle rotates to all directions, wearable (immobilized patients leg and foot), can according to the lower limb of patient long adjustment lower platform height.Key component of the present invention and each ingredient function as follows:
1) upper mounting plate (fixed platform): patient legs is fixed with medical robot by dressing.
2) lower platform (moving platform): be fixedly linked with patient's worn footwear that sprain one's foot, by dressing spraining one's foot of immobilized patients.
3) base: it is long that the height of adjustment upper mounting plate carrys out the lower limb of applicable patient; Connect restriction lower platform by a ball pivot to rotate around ball pivot.
4) cylinder (pneumatic linear actuator, hydraulic cylinder or electric cylinder): be connected with upper mounting plate with six Hooke's hinges, be connected with six ball pivots with lower platform, by the motion relative to upper mounting plate of the extension and contraction control lower platform of piston rod.
5) computer controls and acquisition system: carried out controlling and gather to the stretching motion of the piston rod of six cylinders by man machine operation interface by computer system, carries out controlling further and gather the motion of lower platform.
Accompanying drawing explanation
Fig. 1: structural representation of the present invention.
Fig. 2: the Hooke's hinge/ball pivot distribution schematic diagram of up/down platform of the present invention.
Fig. 3: natural pattern graphoid of the present invention.
Fig. 4, Fig. 5: use simulation drawing of the present invention.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is further illustrated.
Concrete scheme of the present invention:
Upper mounting plate is connected by cylindrical central sleeve and outside rigid structure and is formed, the made of soft of sleeve and flexible, patient legs is fixed on by dressing, the strip stuck-module that base edge has three to stretch vertically upward, the top of described stuck-module has groove, and the outer end of rigid structure has three slide blocks to be embedded in three grooves on stuck-module top, and upper mounting plate can be slided up and down, to adjust the height of upper mounting plate, and by screw, upper mounting plate can be fixed on a certain height.The top of upper mounting plate is respectively connected with a Hooke's hinge with cylinder barrel one end of six (three to) cylinders, and in upper mounting plate, the position of three pairs of Hooke's hinges distributes with 120 ° of Rotational Symmetries, and about there is the angle of 30 ° at the relative upper mounting plate center, position of often pair of Hooke's hinge.
Lower platform is respectively connected with a ball pivot with piston rod one end of six (three to) cylinders, and in lower platform, the position of three pairs of ball pivots distributes with 120 ° of Rotational Symmetries, and about there is the angle of 30 ° at the relative lower platform center, position of often pair of Hooke's hinge.Lower platform and footwear are fixedly linked, by dressing the foot of immobilized patients.
There is a boss at base center, and this boss is connected with ball pivot with lower platform centre bottom; The elongated slot of described base upper end is connected with the skid around upper mounting plate, according to the height of the long adjustable upper mounting plate of the lower limb of patient, and upper mounting plate and base can be fixed by screw.
For six cylinders, the two ends of each cylinder are connected with a Hooke's hinge with a ball pivot respectively.Specifically as shown in Fig. 2 in accompanying drawing, cylinder 1 is connected with Hooke's hinge 1 with ball pivot 1, and cylinder 2 is connected with Hooke's hinge 2 with ball pivot 2, cylinder, 3 are connected with Hooke's hinge 3 with ball pivot 3, cylinder, and 4 are connected with Hooke's hinge 4 with ball pivot 4, cylinder, 5 are connected with Hooke's hinge 5 with ball pivot 5, cylinder, and 6 are connected with Hooke's hinge 6 with ball pivot 6.
Computer controls and acquisition system, can be used for controlling the flexible of described six cover cylinders, and can the motor process of acquisition and recording cylinder, by the motor process archival of information that collects in database file, afterwards can flexible according to described database file master cylinder, thus the motor process of reproduction cylinder.
The flexible of six cylinders is controlled by man machine operation interface by computer system, the active Loading Control (motion of direct master cylinder is rotated to make patient's ankle) of stretching to cylinder, passive load information collection (when doctor rotates patient's ankle, the motor process of each cylinder of computer recording) can be completed, carry out initiatively reappearing control (reappearing the motor process of each cylinder recorded to simulate the therapeutic process of doctor) to the information gathered.
Operation principle of the present invention is as follows:
When using of the present invention, first patient legs is stretched into from sleeve and be fixed on leg, regulate the height of upper mounting plate to be fixed on lower platform by the footwear that patient dresses, after position adjustment is suitable, by screw, upper mounting plate and base are fixed.Rotate patient ankle by doctor according to ankle rehabilitation medical process, 6 cylinders of medical robot keep servo-actuated state, and store the motor process of each cylinder by computer acquisition.After complete for whole process collection, carry out active load according to the information collected to 6 cylinders, the rotation process of reproduction lower platform, realizes the simulation to doctor's rehabilitation medical process.The speed of velocity of rotation in medical treatment can being regulated to cross by regulating the loading frequency of cylinder.When reusing, directly directly can carry out rehabilitation medical according to the file filed.
Claims (6)
1. the wearable ankle rehabilitation medical robot of six degree of freedom, is characterized in that: this robot comprises upper mounting plate, lower platform, base, six cover cylinders and computer and controls and acquisition system, wherein
Upper mounting plate is connected by cylindrical central sleeve and outside rigid structure and is formed, the made of soft of sleeve and flexible, is enclosed within patient legs and fixing;
The footwear of lower platform and patient are fixedly linked, thus the foot portion of immobilized patients;
Base center is provided with a boss, and this boss is connected with ball pivot with lower platform centre bottom; The strip stuck-module that described base edge has three to stretch vertically upward, the top of described stuck-module has groove, there are three slide blocks the rigid structure outer end of described upper mounting plate, each slide block embeds a described groove, upper mounting plate can be slided up and down, thus the height of adjustment upper mounting plate, use screw to be fixed on by upper mounting plate on a certain height after adjustment;
The one end often overlapping the cylinder barrel of cylinder is connected with upper mounting plate by Hooke's hinge, and the other end often overlapping the piston rod of cylinder is connected with lower platform respectively by ball pivot, by the motion relative to upper mounting plate of the extension and contraction control lower platform of piston rod.
Computer controls and acquisition system, can be used for controlling the flexible of described six cover cylinders, and can the motor process of acquisition and recording cylinder, by the motor process archival of information that collects in database file, afterwards can flexible according to described database file master cylinder, thus the motor process of reproduction cylinder.
2. the wearable ankle rehabilitation medical robot of six degree of freedom according to claim 1, it is characterized in that: cylinder barrel one end that cylinder is overlapped at the top and six of upper mounting plate is respectively connected with a Hooke's hinge, it is three right that six Hooke's hinges are divided into, often pair of relative upper mounting plate Center Gap of Hooke's hinge 30 ° of angles, the position of three pairs of Hooke's hinges distributes with 120 ° of Rotational Symmetries.
3. the wearable ankle rehabilitation medical robot of the six degree of freedom according to any one of claim 1-2, it is characterized in that: one end that described lower platform and six overlaps the piston rod of cylinder is respectively connected with a ball pivot, it is three right that six ball pivots are divided into, often pair of relative lower platform Center Gap of ball pivot 30 ° of angles, the position of three pairs of ball pivots distributes with 120 ° of Rotational Symmetries.
4. the wearable ankle rehabilitation medical robot of the six degree of freedom according to any one of claim 1-3, wherein said cylinder is pneumatic linear actuator, hydraulic cylinder or electric cylinder.
5. ankle rehabilitation medical robot according to claim 1, it is characterized in that: when doctor rotates patient's ankle according to ankle rehabilitation medical process, described six cover cylinders keep servo-actuated state, and described computer controls with acquisition system collection and stores the motor process of often overlapping cylinder.After described ankle rehabilitation medical process completes, described computer controls the motion of overlapping cylinder with acquisition system according to the Moving process control three stored, the rotation process of reproduction lower platform.
6. ankle rehabilitation medical robot according to claim 5, wherein when reappearing the rotation process of lower platform, described computer controls the speed that can regulate velocity of rotation with acquisition system.
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| CN201510405101.1A CN105250113B (en) | 2015-07-10 | 2015-07-10 | A kind of wearable ankle rehabilitation medical robot of six degree of freedom |
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Cited By (9)
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| CN108338896A (en) * | 2018-04-10 | 2018-07-31 | 超微（上海）骨科医院管理股份有限公司 | A kind of wearable ankle rehabilitation running gear of five degree of freedom and its application method |
| CN108433942A (en) * | 2018-04-10 | 2018-08-24 | 超微（上海）骨科医院管理股份有限公司 | A kind of ankle rehabilitation parallel robot for simulating walking with VR |
| CN109223440A (en) * | 2018-09-11 | 2019-01-18 | 佳木斯大学 | A kind of parallel institution ankle device for rehabilitation |
| CN109395333A (en) * | 2018-12-17 | 2019-03-01 | 沈阳建筑大学 | A kind of a kind of multifunctional balanced rehabilitation trainer based on Stewart platform |
| CN111759679A (en) * | 2020-08-06 | 2020-10-13 | 马鞍山学院 | Multi-degree-of-freedom robot for knee joint rehabilitation training |
| CN111888072A (en) * | 2020-07-15 | 2020-11-06 | 高志云 | Multifunctional adjustable elastic ankle joint orthosis |
| CN112451930A (en) * | 2020-11-12 | 2021-03-09 | 浠绘旦 | Ankle stretching and moving device for physical education teaching |
| CN112957691A (en) * | 2021-02-04 | 2021-06-15 | 哈尔滨工业大学 | Somatosensory simulation parallel motion platform integrating human body deep sensation and vestibular sensation |
| CN116035866A (en) * | 2023-02-15 | 2023-05-02 | 中国科学院长春光学精密机械与物理研究所 | Ankle joint rehabilitation robot |
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| CN108338896A (en) * | 2018-04-10 | 2018-07-31 | 超微（上海）骨科医院管理股份有限公司 | A kind of wearable ankle rehabilitation running gear of five degree of freedom and its application method |
| CN108433942A (en) * | 2018-04-10 | 2018-08-24 | 超微（上海）骨科医院管理股份有限公司 | A kind of ankle rehabilitation parallel robot for simulating walking with VR |
| CN109223440A (en) * | 2018-09-11 | 2019-01-18 | 佳木斯大学 | A kind of parallel institution ankle device for rehabilitation |
| CN109395333A (en) * | 2018-12-17 | 2019-03-01 | 沈阳建筑大学 | A kind of a kind of multifunctional balanced rehabilitation trainer based on Stewart platform |
| CN111888072A (en) * | 2020-07-15 | 2020-11-06 | 高志云 | Multifunctional adjustable elastic ankle joint orthosis |
| CN111759679A (en) * | 2020-08-06 | 2020-10-13 | 马鞍山学院 | Multi-degree-of-freedom robot for knee joint rehabilitation training |
| CN112451930A (en) * | 2020-11-12 | 2021-03-09 | 浠绘旦 | Ankle stretching and moving device for physical education teaching |
| CN112957691A (en) * | 2021-02-04 | 2021-06-15 | 哈尔滨工业大学 | Somatosensory simulation parallel motion platform integrating human body deep sensation and vestibular sensation |
| CN116035866A (en) * | 2023-02-15 | 2023-05-02 | 中国科学院长春光学精密机械与物理研究所 | Ankle joint rehabilitation robot |
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Effective date of registration: 20180326 Address after: 528400 Guangdong city of Zhongshan province Tsuiheng Ma An Cun intersection of "three five" project workshop of A building in the first layer, second layer, third layer, fourth layer Patentee after: Kazakhstan Tian Yu (Zhongshan) robotics Co., Ltd. Address before: 150000 Heilongjiang Province, Harbin City Economic Development Zone haping Road District Dalian road and Xingkai road junction Patentee before: HARBIN TIANYU REHABILITATION MEDICAL ROBOT CO., LTD. |
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