CN107174206A - A kind of model of human ankle rigidity detection device - Google Patents
A kind of model of human ankle rigidity detection device Download PDFInfo
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- CN107174206A CN107174206A CN201710350411.7A CN201710350411A CN107174206A CN 107174206 A CN107174206 A CN 107174206A CN 201710350411 A CN201710350411 A CN 201710350411A CN 107174206 A CN107174206 A CN 107174206A
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- 238000001514 detection method Methods 0.000 title claims abstract description 27
- 210000003423 ankle Anatomy 0.000 title claims abstract description 21
- 238000005259 measurement Methods 0.000 claims abstract description 8
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 30
- 238000012546 transfer Methods 0.000 claims description 9
- 230000007306 turnover Effects 0.000 claims 1
- 230000036544 posture Effects 0.000 abstract 1
- 241000208340 Araliaceae Species 0.000 description 7
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 7
- 235000003140 Panax quinquefolius Nutrition 0.000 description 7
- 235000008434 ginseng Nutrition 0.000 description 7
- 206010023230 Joint stiffness Diseases 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 4
- 230000005284 excitation Effects 0.000 description 4
- 238000012549 training Methods 0.000 description 4
- 206010024453 Ligament sprain Diseases 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 101000793686 Homo sapiens Azurocidin Proteins 0.000 description 1
- 208000005137 Joint instability Diseases 0.000 description 1
- 208000010040 Sprains and Strains Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000008407 joint function Effects 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 210000003041 ligament Anatomy 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
- A61B5/4538—Evaluating a particular part of the muscoloskeletal system or a particular medical condition
- A61B5/4595—Evaluating the ankle
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- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention relates to a kind of model of human ankle rigidity detection device, the device mainly includes fixed platform, moving platform, constrained branched chain and UPS side chains, the lower end of constrained branched chain is rotatably assorted with fixed platform, the bottom of 2 UPS side chains is symmetrically mounted on fixed platform, the top connection of moving platform and constrained branched chain, meanwhile, moving platform is connected further through wishbone with the top of 2 UPS side chains, constitutes a 2 UPS parallel institutions.The device has 3 rotational freedoms, can complete dorsiflexion/toe is bent, Inner is turned over/and turn up and interior receipts/arms sideward lift.Human body ankle is connected by the way of connection of compacting with moving platform, strong/square sensor is installed at man-machine linkage interface, simultaneously, 1 angular transducer is respectively provided with 3 cradle heads, the stiffness measurement to model of human ankle can be achieved, the inclination angle of moving platform can be changed by the prismatic pair for adjusting 2 UPS side chains, so as to measure rigidity when model of human ankle is in different postures.
Description
Technical field
The present invention relates to a kind of detection means, specifically, it is related to the device for model of human ankle stiffness excitations.
Background technology
Ankle-joint is the movable joint of human body, is also the maximum joint of load-bearing, especially when running and jumping, ankle-joint
Huge load and impact can be born, therefore is easily sprained.In addition, nervous function suffers damage after apoplexy, it may also lead to
Muscle around ankle-joint is weak, human body can not be walked as normal person.After sprain of ankle joint, if treatment is not in time,
Ligament of ankle joint overrelaxation is easily caused, joint instability easily causes and sprained repeatedly, serious will influence walking function.
In recent years, focus of the research as Biological Strength educational circles in the world to joint stiffness, by analyzing the human body measured
Joint stiffness data assess the health degree and bearing capacity of human synovial, and the rehabilitation and pre- antisitic defect for human synovial be all
There is more important meaning.Ankle-joint rigidity is the direct performance of ankle joint function index, analyzes model of human ankle rigidity data,
Available for prevention sprained ankle, improve ankle joint rehabilitation training mode and dynamics, judge the effect of ankle joint rehabilitation training.Arrive
So far, a variety of mechanisms for ankle joint rehabilitation training have been worked out for sprained ankle both at home and abroad, but it is most
Product is intended to for initiative rehabilitation training, and the research input for ankle-joint stiffness excitations is then fewer, and this gives closes to ankle
The measurement and analytic band for saving rigidity carry out many inconvenience.
The content of the invention
It is an object of the invention to provide a kind of model of human ankle rigidity detection device, to solve the above problems.
The embodiment provides a kind of model of human ankle rigidity detection device, it is characterised in that the ankle-joint is firm
Spending detection means includes fixed platform, moving platform, constrained branched chain, UPS side chains, and moving platform, constrained branched chain, UPS side chains are installed in
On fixed platform；Moving platform is connected by wishbone with the top of 2 UPS side chains, and the bottom of 2 UPS side chains is arranged on fixed platform
On, meanwhile, moving platform is connected by constrained branched chain with fixed platform；Ankle-joint rigidity detection device by the way of connection of compacting with
Human body ankle is connected, and strong/square sensor is installed at man-machine linkage interface, realizes that power/square to model of human ankle is measured.
Further, moving platform mainly includes supporting plate, intermediate plate, pedal, torque sensor, pull pressure sensor, rank
Terraced axle, torque transfer shaft；Intermediate plate, which is arranged in the middle part of the top of supporting plate, supporting plate, is provided with multi-diameter shaft, contains inside multi-diameter shaft
There is step through-hole, torque sensor is placed in step through-hole；Torque axis is arranged on intermediate plate, and torque transfer shaft lower end passes through
Moment of torsion transmission spoke disk is connected with torque sensor；Four pull pressure sensor are uniformly arranged on intermediate plate top, and pedal is placed
In four pull pressure sensor, and parallel to intermediate plate, pedal correspondence position is provided with four through holes, using threaded connection
Mode pedal is fixed together with pull pressure sensor.
Further, constrained branched chain includes U-shaped bar, C-shaped-rod and L-shaped bar, and both sides and the U-shaped bar of C-shaped-rod turn in the horizontal direction
It is dynamic to coordinate, it is the second cradle head, cooperation axis is X-axis line, C-shaped-rod can be rotated around X-axis line；Dorsiflexion/toe is bent sensor and installed
On the right plate of U-shaped bar, measurement C-shaped-rod relative to U-shaped bar around X-axis line rotational angle；L-shaped bar bottom is fixed with supporting plate
Together, it is rotatably assorted in the middle part of L-shaped bar top and C-shaped-rod, is the 3rd cradle head, cooperation axis is Y-axis line, Y-axis line and X
Axis is vertical and intersecting, and L-shaped bar can be rotated around Y-axis line；Inner turns over/turned up sensor on the middle part outside of C-shaped-rod, measurement
L-shaped bar relative to C-shaped-rod around Y-axis line rotational angle；The U-shaped bar of constrained branched chain is arranged on fixed platform, perpendicular with fixed platform edge
Nogata, to being rotatably assorted, is the first cradle head, and cooperation axis is z axis, and z axis is vertical with X-axis line, and crosses X-axis line and Y-axis
The intersection point of line, constrained branched chain line can integrally be rotated about the z axis；
Interior receipts/abduction sensor be arranged on U-shaped bar inside middle portion on, measurement U-shaped bar relative to fixed platform about the z axis line turn
Dynamic angle.
Further, UPS side chains include secondary Hooke, prismatic pair and ball pair, and Hooke pair is arranged on the bottom of prismatic pair, ball pair peace
Mounted in the top of prismatic pair；Hooke pair has 2 rotational freedoms, and Hooke pair one end is fixed on fixed platform, and the other end is with moving
Move secondary bottom connection；Prismatic pair is made up of support tube, leading screw, flat key and manual nut, and manual nut is arranged on support tube
Portion, manual nut is rotatably assorted with support tube, and manual nut coordinates with threads of lead screw, and flat key is arranged on leading screw bottom sides, branch
Rectangular through slot is provided with the inside of support cylinder, flat key is slidably matched with rectangular through slot；
Compared with prior art the beneficial effects of the invention are as follows：By adding power/square sensor in man-machine connecting link, survey
Rigidity size of the model of human ankle under Difference angles is measured, the assessment of the data obtained either to Rehabilitation degree is gone back
It is the evaluation and test of the inspection to normal person's ankle-joint, all with important reference value.
Brief description of the drawings
Fig. 1 is a kind of axle surveys view of model of human ankle rigidity detection device of the invention；
Fig. 2 is a kind of left view of model of human ankle rigidity detection device of the invention；
Fig. 3 is the axle surveys view of moving platform；
Fig. 4 is the sectional view of torque sensor assembling；
Fig. 5 is the sectional view of pull pressure sensor assembling；
Fig. 6 is the first cradle head sectional view；
Fig. 7 is the 3rd cradle head sectional view；
Fig. 8 is the sectional view of UPS side chain prismatic pairs；
Fig. 9 is a kind of ankle-joint rigidity detection device dorsiflexion limit pose front view of the invention；
Figure 10 is that a kind of ankle-joint rigidity detection device toe of the invention bends limit pose front view；
Figure 11 is that a kind of ankle-joint rigidity detection device Inner of the invention turns over limit pose left view；
Figure 12 is that a kind of ankle-joint rigidity detection device of the invention turns up limit pose left view；
Figure 13 is that limit pose top view is received in a kind of ankle-joint rigidity detection device of the invention；
Figure 14 is a kind of ankle-joint rigidity detection device abduction limit pose top view of the invention.
Embodiment
The present invention is described in detail for shown each embodiment below in conjunction with the accompanying drawings, but it should explanation, these
Embodiment not limitation of the present invention, those of ordinary skill in the art according to these embodiment work done energy, method,
Or equivalent transformation or replacement in structure, belong within protection scope of the present invention.
Join shown in Fig. 1 to Fig. 9, a kind of axle surveys view of model of human ankle rigidity detection device of Fig. 1 present invention；Fig. 2 is this
Invent a kind of left view of model of human ankle rigidity detection device；Fig. 3 is the axle surveys view of moving platform；Fig. 4 is torque sensor
The sectional view of assembling；Fig. 5 is the sectional view of pull pressure sensor assembling；Fig. 6 is the first cradle head sectional view；Fig. 7 is the 3rd
Cradle head sectional view；Fig. 8 is the sectional view of UPS side chain prismatic pairs；Fig. 9 is a kind of ankle-joint rigidity detection device back of the body of the invention
Stretch limit pose front view；Figure 10 is that a kind of ankle-joint rigidity detection device toe of the invention bends limit pose front view；Figure 11 is
A kind of ankle-joint rigidity detection device Inner of the present invention turns over limit pose left view；Figure 12 is a kind of ankle-joint stiffness excitations of the invention
Device turns up limit pose left view；Figure 13 is that limit pose top view is received in a kind of ankle-joint rigidity detection device of the invention；
Figure 14 is a kind of ankle-joint rigidity detection device abduction limit pose top view of the invention.
A kind of ankle-joint rigidity detection device is present embodiments provided, shown in ginseng Fig. 1 to Figure 14, the ankle-joint stiffness excitations
Device includes 1 fixed platform, 1 moving platform, 1 constrained branched chain and 2 UPS side chains, the constrained branched chain and 2 UPS side chains
It is installed on the fixed platform 1, the constrained branched chain is rotatably assorted with the fixed platform 1,2 UPS side chains lower ends are symmetrically pacified
On the fixed platform 1, the moving platform is connected with the constrained branched chain top, meanwhile, the moving platform passes through wishbone 10
It is connected with 2 UPS side chains tops, ankle 104 is connected by the way of connection of compacting with moving platform.
In the present embodiment, shown in ginseng Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, moving platform mainly includes supporting plate 7, intermediate plate
8th, pedal 9, torque sensor 106, moment of torsion transmission spoke disk 20, multi-diameter shaft 17, torque transfer shaft 19, pull pressure sensor 105
Deng.The supporting plate 7 is fixed together with the bottom of L-shaped frame 6, and the multi-diameter shaft 17 is arranged in the supporting plate 7, the ladder
Contain step through-hole in axle 17, the torque sensor 106 is placed in the step through-hole of multi-diameter shaft 17, and is fixed on ladder
On hubcap 18, the moment of torsion transmission spoke disk 20 is arranged on the top of torque sensor 106.One-level deep groove ball bearing 21 and two
Level deep groove ball bearing 22 is arranged in the step through-hole of multi-diameter shaft 17, positioned at the top of moment of torsion transmission spoke disk 20, two bearings
Centre is equipped with one-level bearing washer 24, and the lower end outer ring of two grades of deep groove ball bearings 22 is contacted with step through-hole necking section, and one
Level deep groove ball bearing 21 upper end outer ring is compressed by one-level bearing (ball) cover 23.The torque transfer shaft 19 and the one-level deep-groove ball
Bearing 21 and two grades of deep groove ball bearings 22 are interference fitted, the shaft shoulder of the torque transfer shaft 19 and the one-level deep-groove ball axle
Hold and end ring 25, the end ring 25 and two grades of depths are housed on 21 top inner ring contacts, the torque transfer shaft 19
The bottom inner ring contact of ditch ball bearing 22, the lower end of torque transfer shaft 19 is transmitted spoke disk 20 by flat key 26 and the moment of torsion and connected
Connect.The intermediate plate 8 is arranged on the top of torque transfer shaft 19, and parallel with the supporting plate 7.4 pull pressure sensor
Bottom, which is connected through a screw thread, is uniformly mounted to the top of intermediate plate 8, and the pedal 9 is placed on the pull pressure sensor
105 tops, and parallel to the intermediate plate 8, the position of 4 pull pressure sensor of the correspondence of pedal 9 is provided with 4 and led to
Hole, is connected through a screw thread and the pedal 9 is fixed together with the pull pressure sensor 105.
In the present embodiment, shown in ginseng Fig. 1, Fig. 2 and Fig. 6, constrained branched chain includes lower link 2, left connecting rod 3, right connecting rod 4, C
Shape bar 5 and L-shaped bar 6.The middle bench through hole of lower link 2 is built with three-level deep groove ball bearing 28 and level Four deep groove ball bearing
29, two bearings centre is equipped with secondary bearing packing ring 30, the upper end outer ring of level Four deep groove ball bearing 29 and step through-hole necking part
Tap is touched, and the lower end outer ring of three-level deep groove ball bearing 28 is compressed by secondary bearing end cap 31.The Z-direction rotating shaft 27 and institute
State three-level deep groove ball bearing 28 and the level Four deep groove ball bearing 29 be interference fitted, the shaft shoulder of the Z-direction rotating shaft 27 with it is described
The bottom inner ring contact of three-level deep groove ball bearing 28, the top of Z-direction rotating shaft 27 is equipped with locking nut, the level Four deep-groove ball axle
Hold 29 upper end inner rings to contact with the locking nut, the bottom of Z-direction rotating shaft 27 is fixed on the fixed platform 1.Interior receipts/outer
Open up sensor stand 32 and be arranged on the top of lower link 2, interior receipts/abduction sensor 103 is arranged on the interior receipts/abduction sensing
On device support 32, the interior receipts/output shaft of abduction sensor 103 is connected with the Z-direction rotating shaft 27 and fixed by jackscrew.
In the present embodiment, shown in ginseng Fig. 1, Fig. 2 and Fig. 7, the left connecting rod 3 and the lower end of the right connecting rod 4 difference are vertical
Ground is arranged on the both sides of lower link 2, constitutes a U-shaped bar.Step through-hole is contained at the middle part of C-shaped-rod 5, and step through-hole is built-in
Have and three-level bearing washer 36 is housed in the middle of Pyatyi deep groove ball bearing 34 and six grades of deep groove ball bearings 35, two bearings, the Pyatyi is deep
The right side outer ring of ditch ball bearing 34 is contacted with step through-hole necking down, and the left side outer ring of six grades of deep groove ball bearings 35 passes through three-level bearing
End cap 37 is compressed.The Y-direction rotating shaft 33 is matched somebody with somebody with the Pyatyi deep groove ball bearing 34 and six grades of deep groove ball bearings 35 interference
Close, the shaft shoulder of the Y-direction rotating shaft 33 is contacted with the right side inner ring of Pyatyi deep groove ball bearing 34, the Y-direction rotating shaft 33 is left
End is equipped with locking nut, and the left side inner ring of six grades of deep groove ball bearings 35 is contacted with the locking nut, the Y-direction rotating shaft 33
Right-hand member is fixed together with the L-shaped bar 6.Inner turns over/turned up sensor stand 38 and is arranged on by the three-level bearing (ball) cover 37
In the C-shaped-rod 5, Inner is turned over, and/sensor 102 that turns up is turned over installed in the Inner/turns up on sensor stand 38, and the Inner turns over/and it is outer
The output shaft of sensor 102 is turned over to be connected and fix by jackscrew with the Y-direction rotating shaft 33.
In the present embodiment, shown in ginseng Fig. 1, Fig. 2, Fig. 6 and Fig. 7, the second cradle head connected mode and the 3rd rotates pass
The peace for the sensor 102 that turns up that the connected mode of section is identical, dorsiflexion/toe bends the mounting means of sensor 101 and the Inner is turned over/
Dress mode is identical, therefore, the installation side of the connected mode of the second cradle head and dorsiflexion/toe sensor 101 in the wrong
Formula does not carry out repeated description.
In the present embodiment, shown in ginseng Fig. 1, Fig. 2 and Fig. 8, UPS side chains include by left Hooke pair 11, move left pair 13, a left side
The left UPS side chains of the composition of ball pair 15, and right Hooke pair 12, the right UPS side chains for moving right secondary 16 composition of pair 14, right ball, it is described
Left Hooke pair 11 is arranged on the bottom for moving left pair 13, and the left ball pair 15 is arranged on the top for moving left pair 13.
The left Hooke pair 11 has 2 rotational freedoms, and secondary 11 bottoms of left Hooke are connected with the fixed platform 1, top and institute
State the bottom connection for moving left pair 13.The pair 13 that moves left is by 42 groups of leading screw 39, manual nut 40, support tube 41 and flat key
Into, the manual nut 40 is arranged on the top of support tube 41, and the manual nut 40 is rotatably assorted with the support tube 41,
The manual nut 40 coordinates with the screw thread of leading screw 39, and the flat key 42 is arranged on the bottom sides of leading screw 39, the branch
The inner side of support cylinder 41 is provided with rectangular through slot, and the flat key 42 is slidably matched with rectangular through slot；The left ball pair 15 is by a Hooke
Hinge and a cradle head composition, with 3 rotational freedoms, cradle head is arranged on the boss in the left side of wishbone 10
On.Because the right UPS side chains are identical with the mounting structure and connected mode of the left UPS side chains, therefore, the right side
The mounting means of UPS side chains does not carry out repeated description.
In the present embodiment, shown in ginseng Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13 and Figure 14, Fig. 9 devices are doing dorsiflexion fortune
Pose during 29.8 ° of maximum angle is reached when dynamic；Figure 10 devices are doing position when reaching 40.8 ° of maximum angle when toe bends motion
Appearance；Figure 11 devices are doing pose when 22 ° of maximum angle is reached when Inner turns over motion；Figure 12 devices reach when doing and turning up motion
To pose during 17 ° of maximum angle；Figure 13 devices do it is interior receive motion when reach 36 ° of maximum angle when pose；Figure 14 should
Device reaches pose during 25.9 ° of maximum angle when doing abduction exercise.
Those listed above is a series of to be described in detail only for feasibility embodiment of the invention specifically
Bright, they simultaneously are not used to limit the scope of the invention, all equivalent implementations made without departing from skill spirit of the present invention
Or change should be included in the scope of the protection.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit is required rather than described above is limited, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.
Claims (1)
1. a kind of model of human ankle rigidity detection device, it is characterised in that the ankle-joint rigidity detection device includes fixed platform, moved
Platform, constrained branched chain, UPS side chains, moving platform, constrained branched chain, UPS side chains are installed on fixed platform；
Moving platform is connected by wishbone with the top of 2 UPS side chains, and the bottom of 2 UPS side chains is arranged on fixed platform, together
When, moving platform is connected by constrained branched chain with fixed platform；
Ankle-joint rigidity detection device is connected by the way of connection of compacting with human body ankle, is provided with man-machine linkage interface
Power/square sensor, realizes that power/square to model of human ankle is measured.
Moving platform is mainly passed comprising supporting plate, intermediate plate, pedal, torque sensor, pull pressure sensor, multi-diameter shaft, moment of torsion
Pass axle；
Intermediate plate, which is arranged on to be provided with inside multi-diameter shaft, multi-diameter shaft in the middle part of the top of supporting plate, supporting plate, contains step through-hole, turns round
Square sensor is placed in step through-hole；
Torque axis is arranged on intermediate plate, and torque transfer shaft lower end is transmitted spoke disk by moment of torsion and is connected with torque sensor；
Four pull pressure sensor are uniformly arranged on intermediate plate top, and pedal is placed in four pull pressure sensor, and flat
Row is in intermediate plate, and pedal correspondence position is provided with four through holes, is passed pedal and pressure by the way of threaded connection
Sensor is fixed together.
Constrained branched chain includes U-shaped bar, C-shaped-rod and L-shaped bar, and both sides and the U-shaped bar of C-shaped-rod be rotatably assorted in the horizontal direction, is the
Two cradle heads, cooperation axis is X-axis line, and C-shaped-rod can be rotated around X-axis line；
Dorsiflexion/toe bend sensor be arranged on U-shaped bar right plate on, measurement C-shaped-rod relative to U-shaped bar around X-axis line angle of rotation
Degree；
L-shaped bar bottom is fixed together with supporting plate, is rotatably assorted in the middle part of L-shaped bar top and C-shaped-rod, is the 3rd rotation pass
Section, cooperation axis is Y-axis line, and Y-axis line is vertical with X-axis line and intersects, and L-shaped bar can be rotated around Y-axis line；
Inner turn over/turn up sensor installed in C-shaped-rod middle part on the outside of on, measurement L-shaped bar relative to C-shaped-rod around Y-axis line rotation
Angle；
The U-shaped bar of constrained branched chain is arranged on fixed platform, is vertically rotatably assorted with fixed platform, is the first cradle head,
Cooperation axis is z axis, and z axis is vertical with X-axis line, and the intersection point of mistake X-axis line and Y-axis line, and constrained branched chain integrally can line about the z axis
Rotate；
Interior receipts/abduction sensor is arranged on U-shaped bar inside middle portion, angle of rotation of the measurement U-shaped bar relative to fixed platform line about the z axis
Degree.
UPS side chains include secondary Hooke, prismatic pair and ball pair, and Hooke pair is arranged on the bottom of prismatic pair, and ball pair is arranged on prismatic pair
Top；
Hooke pair has 2 rotational freedoms, and Hooke pair one end is fixed on fixed platform, and the bottom of the other end and prismatic pair connects
Connect；
Prismatic pair is made up of support tube, leading screw, flat key and manual nut, and manual nut is arranged on support tube top, manual nut
It is rotatably assorted with support tube, manual nut coordinates with threads of lead screw, flat key is arranged on the inside of leading screw bottom sides, support tube and set
There is rectangular through slot, flat key is slidably matched with rectangular through slot；
Ball pair is made up of hook hinge and cradle head, and with 3 rotational freedoms, cradle head is arranged on the both sides of wishbone
On boss.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710350411.7A CN107174206B (en) | 2017-05-18 | 2017-05-18 | Human ankle joint rigidity detection device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710350411.7A CN107174206B (en) | 2017-05-18 | 2017-05-18 | Human ankle joint rigidity detection device |
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| CN107174206A true CN107174206A (en) | 2017-09-19 |
| CN107174206B CN107174206B (en) | 2020-01-24 |
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| CN201710350411.7A Expired - Fee Related CN107174206B (en) | 2017-05-18 | 2017-05-18 | Human ankle joint rigidity detection device |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107803820A (en) * | 2017-10-16 | 2018-03-16 | 清华大学 | A kind of 3-freedom parallel mechanism ankle joint rehabilitation device |
| CN107899198A (en) * | 2017-12-25 | 2018-04-13 | 安阳市翔宇医疗设备有限责任公司 | A kind of main passive exercise device of ankle-joint |
| CN108542703A (en) * | 2018-03-05 | 2018-09-18 | 北京工业大学 | A kind of double UPS types ankle joint rehabilitation devices |
| CN109223440A (en) * | 2018-09-11 | 2019-01-18 | 佳木斯大学 | A kind of parallel institution ankle device for rehabilitation |
| CN109893145A (en) * | 2017-12-08 | 2019-06-18 | 深圳市第二人民医院 | The torsion-testing apparatus of rat shoulder joint |
| CN110840707A (en) * | 2019-12-13 | 2020-02-28 | 福州大学 | Ankle joint rehabilitation robot structure and using method thereof |
| CN111513982A (en) * | 2020-04-17 | 2020-08-11 | 燕山大学 | Parallel ankle rehabilitation robot |
| CN111759679A (en) * | 2020-08-06 | 2020-10-13 | 马鞍山学院 | Multi-degree-of-freedom robot for knee joint rehabilitation training |
| CN113558928A (en) * | 2021-06-21 | 2021-10-29 | 浙江工业大学 | Ankle joint motion rehabilitation robot |
| CN113576723A (en) * | 2021-07-28 | 2021-11-02 | 华中科技大学 | Experiment platform and measurement system for measuring bending and stretching rigidity of elbow joint |
| CN113639944A (en) * | 2021-09-01 | 2021-11-12 | 北京理工大学 | Rigidity measurement system and method for rigid-flexible coupling body |
| CN113749612A (en) * | 2020-06-02 | 2021-12-07 | 北京清华长庚医院 | Ankle joint evaluation device, ankle joint evaluation apparatus, ankle joint evaluation system, ankle joint evaluation method, and storage medium |
| CN113749647A (en) * | 2020-06-02 | 2021-12-07 | 北京清华长庚医院 | Ankle joint evaluation device, ankle joint evaluation apparatus, ankle joint evaluation system, ankle joint evaluation method, and storage medium |
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| KR20160145948A (en) * | 2015-06-11 | 2016-12-21 | 한국기계연구원 | Wearable ankle exoskeleton using the ratchet clutch mechanism for supporting ankle joint stiffness |
| KR20170041545A (en) * | 2015-10-07 | 2017-04-17 | 대한민국(국립재활원장) | Ankle muscle training apparatus |
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| CN107803820A (en) * | 2017-10-16 | 2018-03-16 | 清华大学 | A kind of 3-freedom parallel mechanism ankle joint rehabilitation device |
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| CN109223440A (en) * | 2018-09-11 | 2019-01-18 | 佳木斯大学 | A kind of parallel institution ankle device for rehabilitation |
| CN110840707A (en) * | 2019-12-13 | 2020-02-28 | 福州大学 | Ankle joint rehabilitation robot structure and using method thereof |
| CN111513982A (en) * | 2020-04-17 | 2020-08-11 | 燕山大学 | Parallel ankle rehabilitation robot |
| CN113749612A (en) * | 2020-06-02 | 2021-12-07 | 北京清华长庚医院 | Ankle joint evaluation device, ankle joint evaluation apparatus, ankle joint evaluation system, ankle joint evaluation method, and storage medium |
| CN113749612B (en) * | 2020-06-02 | 2024-03-26 | 北京清华长庚医院 | Ankle joint evaluation device, apparatus, system, method, and storage medium |
| CN113749647A (en) * | 2020-06-02 | 2021-12-07 | 北京清华长庚医院 | Ankle joint evaluation device, ankle joint evaluation apparatus, ankle joint evaluation system, ankle joint evaluation method, and storage medium |
| CN111759679A (en) * | 2020-08-06 | 2020-10-13 | 马鞍山学院 | Multi-degree-of-freedom robot for knee joint rehabilitation training |
| CN113558928B (en) * | 2021-06-21 | 2023-12-22 | 浙江工业大学 | Ankle joint motion rehabilitation robot |
| CN113558928A (en) * | 2021-06-21 | 2021-10-29 | 浙江工业大学 | Ankle joint motion rehabilitation robot |
| CN113576723A (en) * | 2021-07-28 | 2021-11-02 | 华中科技大学 | Experiment platform and measurement system for measuring bending and stretching rigidity of elbow joint |
| CN113576723B (en) * | 2021-07-28 | 2022-05-20 | 华中科技大学 | Experiment platform and measurement system for measuring elbow joint flexion and extension rigidity |
| CN113639944A (en) * | 2021-09-01 | 2021-11-12 | 北京理工大学 | Rigidity measurement system and method for rigid-flexible coupling body |
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