CN100588384C - Bio-integrated foot joint rehabilitation robot - Google Patents
Bio-integrated foot joint rehabilitation robot Download PDFInfo
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- CN100588384C CN100588384C CN200610048286A CN200610048286A CN100588384C CN 100588384 C CN100588384 C CN 100588384C CN 200610048286 A CN200610048286 A CN 200610048286A CN 200610048286 A CN200610048286 A CN 200610048286A CN 100588384 C CN100588384 C CN 100588384C
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Abstract
本发明公开一种生物融合式足关节康复机器人。其特征是：四个直线驱动单元上端通过万向铰(4)与上平台(16)的安装支架(5)相连，下端通过球副(9)与下平台(12)相连，人脚(11)通过夹持器与下平台(12)固连，小腿(2)通过固定器与上平台(16)相连。直线驱动器(6)可选用丝杠螺母机构、双向运动气缸(22)或电动缸(23)。本发明以人足仿生研究为基础，把人的膝下肢体作为运动分支融合到机构系统中。本康复机器人具有多个自由度，能够实现各种复杂的康复运动，转动铰点与足关节转动铰点完全重合。并可将康复过程中的数据用于诊断治疗。因此本发明具有结构简单新颖，安全可靠，运动灵活，能够实现全方向的关节功能康复，能很好地适应人足生理结构等优点。
The invention discloses a bio-integrated foot joint rehabilitation robot. It is characterized in that the upper ends of the four linear drive units are connected with the mounting bracket (5) of the upper platform (16) through universal hinges (4), the lower ends are connected with the lower platform (12) through ball pairs (9), and the human feet (11 ) is fixedly connected with the lower platform (12) through the holder, and the lower leg (2) is connected with the upper platform (16) through the holder. The linear driver (6) can be selected from a screw nut mechanism, a two-way motion cylinder (22) or an electric cylinder (23). The invention is based on the bionic research of the human foot, and integrates the lower limbs of the human body into the mechanism system as a movement branch. The rehabilitation robot has multiple degrees of freedom, and can realize various complex rehabilitation movements, and the rotation hinge point completely coincides with the rotation hinge point of the foot joint. And the data during the rehabilitation process can be used for diagnosis and treatment. Therefore, the present invention has the advantages of simple and novel structure, safety and reliability, flexible movement, full-directional rehabilitation of joint functions, and good adaptability to the physiological structure of human feet.
Description
Technical field
The present invention relates to a kind of recovery robot system, particularly relate to a kind of multiple degrees of freedom that has, can realize the omnirange joint function rehabilitation, rotate hinge and rotate the foot joint rehabilitation robot that hinge overlaps fully with joints of foot.
Background technology
Joints of foot comprises apart from upper joint (being commonly called as ankle joint), subtalar joint (comprising talocalcaneonavicular joint and talocalcaneal articulation).Be trochoid apart from upper joint wherein, it mainly moves and bends into dorsiflex and the sole of the foot.In addition, because the trochoid face is front wide and rear narrow, when foot was bent at the sole of the foot, the narrower rear portion of trochlea of talus entered glenoid fossa, makes glenoid fossa greater than ball and socket joint, so can also do slight abduction and the motion of interior receipts.Subtalar joint is articular joint on function, turns over and the motion of turning up in it mainly moves and is.In artificial joint development, often joints of foot is reduced to cradle head with one or three degree of freedom.
The joints of foot damage mainly comprises ankle joint fracture, ligament avulsion and fracture.Because the rear portion of ankle joint trochlea of talus is narrower, the narrower rear portion of trochlea of talus enters in the glenoid fossa when the sole of the foot is in the wrong, so slight side direction (exhibition, receipts) motion can be arranged, this moment, talocrural joint became flexible and less stable, be subject to sprain, wherein sprain more see (lateral ligament damage) with interior turning over.The rehabilitation of joint injury is second critical treatment process after Drug therapy or the operation in the early stage, is that (Continuous Passive Motion, CPM), and functional rehabilitation is carried out in massage therapy etc. for continuous passive motion by the joint.But the patient carries out functional rehabilitation by slow walking at present.This method not only makes to resume treatment used time length, not thorough, and can bring very big misery to the patient, even cause serious secondary damage and habituation to sprain owing to difficult grasps such as intensity of contacting to earth and motion amplitudes.
The rehabilitation process of joints of foot damage can be divided into two stages.The generally beginning after 48-72 after the wound hour of the 1st stage.Rehabilitation training can be kept the flesh contractile motion, prevents disuse muscle atrophy, and soft tissue contractures such as joint capsule and ligament have promoted the secretion and the circulation of intraarticular synovial fluid simultaneously, thereby the prevention intraarticular sticks together.The purpose of the 2nd stage rehabilitation is to recover to greatest extent the motor function of impaired limb.The treatment in this stage can be selected for use, passive exercise, and the function of joint traction, Joint Mobilization is massaged Therapeutic Method such as physical therapy.Joint Mobilization (joint mobilization JM) is a kind of passive exercise, experimental results show that, this method can promote flowing of joint fluid, increase the nutrition of articular cartilage and cartilage avascular area, alleviating pain prevents from can keep or increase the extensibility of joint surrounding tissue because of activity reduces the articular degeneration that causes, improve range of motion, become the important component part of modern rehabilitation treatment technology.
In order to make impaired joints of foot quick, recover motor function to greatest extent.People have designed multiple recovery robot system.Chinese patent ZL99106695.2 discloses a kind of extremity fracture patient carries out the joint function rehabilitation exercise after operation limb joint function rehabilitation apparatus that is used for, be characterized in: simple in structure, need not base support, can be directly installed on patient's the joint part and work, can according to the user joint can select best operating angle automatically by crooked maximum position, be fit to the patient and use at household person.
Chinese patent ZL94227560.8 is open.This rehabilitation device adopts two parallel-crank mechanisms and harmonic drive mechanism.Patient's joint of the lower extremity run-on point is overlapped with the imaginary hinge contact of two parallelogrames, when having avoided mechanism kinematic to the interference and the skin injury of human body.The deficiency of these two kinds of patent rehabilitation devices is that joints of foot only has a freedom of motion, is difficult to realize the complicated rehabilitation exercise of people's foot.
In addition, the sufficient rehabilitation electric footwear of a kind of paralysis are disclosed by Chinese patent ZL01216338.4, and this rehabilitation device drives multidirectional swing span by eccentric group, and this swing span links to each other with sole by universal joint, drive the rotation that joints of foot produces both direction.Can realize that instep constantly moves, and can make ankle joint keep functional position as required.
The common drawback of these rehabilitation device systems is not take into full account human limb's special complexity at the beginning of the design, the dissect physiology structure with people's limbs is not the design centre, thereby make system's rehabilitation exercise form single, degree of freedom is few, and train of mechanism lacks flexible.Therefore, can not well solve the limited problem of the motor function of patient's joints of foot on some direction, the safety of rehabilitation can not get good guarantee, can not satisfy the needs of the quick rehabilitation of patient safety.
Few in order to overcome the degree of freedom that exists in the existing foot joint rehabilitation robot system, the rehabilitation exercise form is single, and curative effect is not good enough, and the deficiency that safety is relatively poor the invention provides a kind of biological fusion type foot joint rehabilitation robot system.The present invention at the podarthral dissect physiology structure of people, as motion branch design train of mechanism, has a plurality of degree of freedom with people's knee limb specially, can realize the rehabilitation exercise of multiple complexity.Thereby can satisfy patient safety better, comfortable, carry out the needs of foot joint rehabilitation apace.Can solve the limited problem of the motor function of patient's joints of foot on some direction, thereby better efficacy.
Summary of the invention
The technical solution adopted for the present invention to solve the technical problems is: four linear actuator upper ends link to each other with the mounting bracket of upper mounting plate by universal hinge, its lower end links to each other with platform by ball pivot, and four mounting brackets and fixing head connect firmly and constitute upper mounting plate on the erecting bed; Three supports upper end connects firmly the lower end with erecting bed and base connects firmly the formation bearing.
People's foot connects firmly by clamper and platform, and shank links to each other with upper mounting plate by little leg holder, and hasp and fixing head connect firmly, hasp and pedal fixed installation, and pedal connects firmly and constitutes lower platform on the platform.
The linear drives unit is by linear actuator, and the elasticity coupling unit is composed in series.
Linear actuator has following three kinds of structures: first kind of structure is: linear actuator is composed in series by motor, erecting bed and leading screw; Second kind of structure is: linear actuator is selected the bidirectional-movement cylinder for use; The third structure is: linear actuator is selected electronic cylinder for use.
The elasticity coupling unit can be selected metal spring for use, rubber spring or air spring.
Upper end, four linear drives unit links to each other with the upper mounting plate mounting bracket by U pair (universal hinge), the lower end links to each other with lower platform by S pair (ball pivot), people's foot is connected by clamper and lower platform, shank links to each other with upper mounting plate by little leg holder, constitutes the parallel institution system that limbs that are with the people participate in as motion branch jointly.
The invention has the beneficial effects as follows: the present invention is fused to people's knee limb in the entire mechanism system as motion branch based on the bionical research of people's foot, has designed the biological fusion type foot joint rehabilitation robot system.This recovery robot system has a plurality of degree of freedom, can realize the rehabilitation exercise of various complexity, solves the rehabilitation problem of patient's joints of foot at some direction upper joint function limitation well; Rotate hinge and overlap fully with joints of foot rotation hinge, rehabilitation course is safety and comfort more.And the data in the rehabilitation exercise process can be used for the treatment of diagnosis.The present invention has novelty simple in structure, and is safe and reliable, and motion can realize omnidirectional joint function rehabilitation flexibly, can adapt to advantages such as human limb's physiological structure well.
Description of drawings
Fig. 1 is the front view of biological fusion type foot joint rehabilitation robot;
Fig. 2 is the side view of biological fusion type foot joint rehabilitation robot;
Fig. 3 is first kind of linear drives cellular construction figure;
Fig. 4 is second kind of linear drives cellular construction figure;
Fig. 5 is the third linear drives cellular construction figure;
Fig. 6 is the axonometric drawing of biological fusion type foot joint rehabilitation robot;
Fig. 7 is the axonometric drawing of air cylinder driven biological fusion type foot joint rehabilitation robot;
Fig. 8 is the axonometric drawing that electronic cylinder drives biological fusion type foot joint rehabilitation robot.
In Fig. 1-Fig. 6,1. erecting bed, 2. shank, 3. fixing head, 4.U pair (universal hinge), 5. mounting bracket, 6. linear actuator, 7. support, 8. elasticity coupling unit, 9.S pair (ball pivot), 10. pedal, 11. people's feet, 12. platforms, 13. hasp I, 14. base, 15. hasp II, 16. upper mounting plates, 17. lower platforms, 18. motor, 19. connect platform, 20. leading screws, the secondary bulb of 21.S, 22. the bidirectional-movement cylinder, 23. electronic cylinders, 24. sources of the gas, 25. pipelines.
The specific embodiment
Embodiment 1
Fig. 1 is an embodiment disclosed by the invention.Upper end, four linear drives unit links to each other with upper mounting plate mounting bracket 5 by U pair (universal hinge) 4, and the lower end links to each other with lower platform 17 by S pair (ball pivot) 9, and people's foot 11 connects firmly by clamper and lower platform 17, and shank 2 links to each other with upper mounting plate 16 by little leg holder.Hasp II 15 connects firmly with fixing head 3, and four mounting brackets 5 and fixing head 3 connect firmly and constitute upper mounting plate 16 on the erecting bed 1.After posterior calf is put into fixing head, shank is fixed to upper mounting plate 16 by forward hasp 13.Hasp I 13 and pedal 10 fixed installations, pedal 10 connect firmly and constitute lower platform 17 on the platform 12.People's sole is put into pedal 10, by hasp I 13 foot is fixed to lower platform 17.Motor 18 and leading screw 20 are installed to and connect on the platform 19.Elasticity coupling unit 8 upper ends are concatenated into leading screw 20, and the secondary bulb 21 of lower end and S connects firmly common formation linear drives unit.Three support 7 upper ends and erecting bed 1 connect firmly, and lower end and base 14 connect firmly the formation bearing, to support entire machine people machinery system.When carrying out rehabilitation system is kept flat, base is contacted with ground, motor 18 connects electricity can realize the rehabilitation training campaign.
Embodiment 2
Fig. 6 is second kind of embodiment of the present invention.Linear actuator in the example one is replaced by bidirectional-movement cylinder 22, and bidirectional-movement cylinder 22 is made up of cylinder body and plunger rod, and elasticity coupling unit 8 is concatenated into plunger rod, and elasticity coupling unit 8 upper ends are the bulbs 21 that cooperate with the ball parafacies.Bidirectional-movement cylinder 22 is identical with embodiment 1 with the connected mode of robot mechanical system.Source of the gas 24 to the cylinder air feed, can be realized the unitary reciprocating motion of linear drives by pipeline 25.
Embodiment 3
Fig. 7 is the third embodiment of the present invention.Linear actuator in the example one is replaced by electronic cylinder 23, electronic cylinder 23 is made up of cylinder body and rod member, elasticity coupling unit 8 is concatenated into rod member, the upper end of elasticity coupling unit 8 is the bulbs 21 that cooperate with the ball parafacies, and electronic cylinder 23 is identical with embodiment 1 with the connected mode of robot mechanical system.Power up to electronic cylinder and can realize the unitary reciprocating motion of linear drives.
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN200610048286A CN100588384C (en) | 2006-09-14 | 2006-09-14 | Bio-integrated foot joint rehabilitation robot |
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|---|---|---|---|
| CN200610048286A CN100588384C (en) | 2006-09-14 | 2006-09-14 | Bio-integrated foot joint rehabilitation robot |
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| CN1923157A CN1923157A (en) | 2007-03-07 |
| CN100588384C true CN100588384C (en) | 2010-02-10 |
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| CN200610048286A Expired - Fee Related CN100588384C (en) | 2006-09-14 | 2006-09-14 | Bio-integrated foot joint rehabilitation robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IT202000002863A1 (en) * | 2020-02-13 | 2021-08-13 | Matteo Russo | Ankle motor assistance device |
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| CN103156756B (en) * | 2013-04-07 | 2014-09-10 | 福州大学 | Adjustable ankle recovering device |
| CN103190972B (en) * | 2013-04-12 | 2014-11-05 | 郑州轻工业学院 | Auxiliary ankle recovering device with sphere-pin pairs |
| CN105030480B (en) * | 2015-07-10 | 2017-05-17 | 哈尔滨天愈康复医疗机器人有限公司 | Novel six-degree-of-freedom wrist rehabilitation robot therapeutic instrument |
| CN105250113B (en) * | 2015-07-10 | 2017-09-19 | 哈尔滨天愈康复医疗机器人有限公司 | A kind of wearable ankle rehabilitation medical robot of six degree of freedom |
| CN105165649A (en) * | 2015-07-19 | 2015-12-23 | 无为县圣达农宝生态养殖有限公司 | Pig trotter binding device |
| CN105125381B (en) * | 2015-10-19 | 2017-01-25 | 吉林大学 | Multi-degree-of-freedom adjustable ankle and knee linkage rehabilitation training device |
| CN107157711B (en) * | 2017-06-02 | 2019-05-31 | 中国矿业大学 | A kind of rehabilitation training machine for ankle joint device people's system |
| 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 |
| CN108310646A (en) * | 2018-04-10 | 2018-07-24 | 超微（上海）骨科医院管理股份有限公司 | A kind of five degree of freedom ankle rehabilitation parallel robot |
| CN108433948A (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 wearable ankle rehabilitation walking robot of five degree of freedom and its application method |
| CN108420678A (en) * | 2018-04-10 | 2018-08-21 | 超微（上海）骨科医院管理股份有限公司 | A kind of four-degree-of-freedom booster type ankle rehabilitation shunting means and its application method |
| CN108567546A (en) * | 2018-04-10 | 2018-09-25 | 超微（上海）骨科医院管理股份有限公司 | A kind of wearable ankle rehabilitation parallel robot and its application method of four-degree-of-freedom |
| CN111759677B (en) * | 2020-08-06 | 2022-03-29 | 马鞍山学院 | Leg joint rehabilitation series-parallel robot |
| CN111759679B (en) * | 2020-08-06 | 2022-03-29 | 马鞍山学院 | Multi-degree-of-freedom robot for knee joint rehabilitation training |
| CN112774117A (en) * | 2020-12-25 | 2021-05-11 | 青岛大学附属医院 | Orthopedics wound is with resumeing trainer |
| CN115569034B (en) * | 2022-10-11 | 2024-11-08 | 哈尔滨理工大学 | A parallel structure for knee joint rehabilitation |
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2006
- 2006-09-14 CN CN200610048286A patent/CN100588384C/en not_active Expired - Fee Related
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| 一种基于3-RSS/S并联机构的踝关节康复机器人. 赵铁石，于海波，戴建生.燕山大学学报，第29卷第6期. 2005 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IT202000002863A1 (en) * | 2020-02-13 | 2021-08-13 | Matteo Russo | Ankle motor assistance device |
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| CN1923157A (en) | 2007-03-07 |
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