CN203861522U - Wearable ankle rehabilitation training robot device - Google Patents
Wearable ankle rehabilitation training robot device Download PDFInfo
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- CN203861522U CN203861522U CN201420160167.XU CN201420160167U CN203861522U CN 203861522 U CN203861522 U CN 203861522U CN 201420160167 U CN201420160167 U CN 201420160167U CN 203861522 U CN203861522 U CN 203861522U
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- rehabilitation training
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- shank
- overcoat
- ankle joint
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Abstract
The utility model discloses a wearable ankle rehabilitation training robot device. The rehabilitation training robot device mainly comprises an outer crus sleeve, a crus protective pad, a rear supporting frame, air cylinders, a pedal, a connecting piece, set screws, bolts, gaskets and the like. The rehabilitation training robot device is characterized in that the outer crus sleeve and the pedal are connected through three parallel branched chains to form a parallel mechanism with three rotational freedom degrees. The ends, located at the rear supporting frame, of the three branched chains are connected with the outer crus sleeve through the set screws, and the other ends of the three branched chains are connected with the pedal through a spherical pair. One air cylinder is directly connected with the outer crus sleeve and the pedal through a spherical pair, and the other two air cylinders are connected through double spherical pairs and then connected to the outer crus sleeve and the pedal. The rehabilitation training robot device is simple in structure, small in size, complete in function, low in cost, safe, comfortable, capable of simulating the motion modes of the ankle of the human body and high in training efficiency and can be used for rehabilitation training of patients with ankle sprains or nerve injuries.
Description
Technical field
This utility model relates to a kind of human body lower limbs recovery exercising robot, is specially a kind of wearable rehabilitation training machine for ankle joint device people device.
Background technology
Ankle joint is the important weight-bearing joints of lower limb.Promoting in the proal research of human body, someone calculates simultaneously, and 60% strength is provided by ankle joint, and in people's daily life, stability and the motility of ankle joint play an important role.
Carried out the research work for the robot of ankle joint rehabilitation training both at home and abroad." ankle of Rutgers " based on 6-SPS parallel institution of the spherical pair S of the invention such as the Girone of U.S. Rutgers university and moving sets P combination, person and stroke patient carry out rehabilitation training can to help sprained ankle; University On The Mountain Of Swallows's Zhao Tieshi etc. has proposed the spherical pair S of the propositions such as 3-RSS/S parallel institution that a kind of revolute pair R and spherical pair S be combined into and the Jian S. Dai of London university and 3-SPS/PS mechanism that moving sets P combines and has been all and has three directions and rotate parallel rehabilitation of anklebone mechanism.Due to the restriction in mechanism kinematic space, above mechanism all cannot realize wearing.And the rehabilitation of anklebone mechanism of existing Wearable healing robot adopts the pattern of serial mechanism conventionally, can not realize whole 3 rotations of ankle joint, the axes intersect that maybe cannot realize 3 rotations, in a bit, causes unexpected power output, may cause two degree injuries to experimenter.
Summary of the invention
This utility model is for fear of the existing deficiency of above-mentioned prior art, design a kind of wearable rehabilitation training machine for ankle joint device people, this rehabilitation training machine for ankle joint device people has the rotational freedom of three directions, can drive motion to have handicapped ankle joint to carry out functional training, the function simultaneously with initiative rehabilitation and passive rehabilitation, and simple in structure, with low cost, easy to adjust, use safety.
The technical solution of the utility model: a kind of medical rehabilitation image training robot device, particularly relates to a kind of wearable rehabilitation training machine for ankle joint device people device.The mechanism of this device is parallel institution, and based on the design that personalizes, can simulate the motion mode of model of human ankle.This device mainly comprises shank overcoat, shank protective pad, rear support stand, cylinder, pedal, brace, holding screw, bolt, pad, it is characterized in that: shank overcoat is connected by three side chains in parallel with pedal, form the parallel institution with 3 rotational freedoms, shank overcoat is the silent flatform of parallel institution, the moving platform that pedal is parallel institution.Article three, side chain is respectively the spherical pair S6 of the dynamic and static platform of direct connection, side chain S4-P2-S5 and S1-P1-S2-P3-S3 that spherical pair and moving sets form, and wherein S2 is two spherical mechanisms.Owing to connecting the mechanism of shank overcoat and pedal and can realize the rotation of three directions, human body is put on after this device, can realize ankle dorsal flexion/plantar flexion, in turn over/turn up and the motion of internal/external rotations three degree of freedom.Shank overcoat just has C type structure, can be by regulating the thickness of pad and the pretension amount of bolt to adjust the thickness of shank overcoat, to adapt to the different fat or thin persons' of undergoing training leg size.Shank protective pad is housed, to increase the comfort level of shank in use procedure in shank overcoat.
Beneficial effect: this utility model has the following advantages compared to existing technology.
1, this utility model is when driving ankle joint function sexual disorders patient to carry out rehabilitation training, can simulate the various motions of model of human ankle completely, and when rehabilitation training, the axis of movement of robot be positioned at all the time ankle joint under, can avoid the drawback that occurs that rehabilitation exercise is not in place or cause joint two degree to injure, the effect that improves rehabilitation training, realizes normal rehabilitation.
2, this utility model can be realized wearing, makes to accept rehabilitation training person and in normal Working Life, completes the rehabilitation of ankle joint.
3, this utility model can arrange initiative rehabilitation, passive rehabilitation and three kinds of rehabilitation modalities of power-assisted according to patient's rehabilitation efficacy, is convenient to the enforcement of rehabilitation scheme.
4, this utility model has designed the dual safety protection of control system and frame for movement, and mechanism this within the scope of ankle motion without Singularity, have very high security reliability.
Accompanying drawing explanation
The wearable rehabilitation training machine for ankle joint device of Fig. 1 people apparatus structure Fig. 1.
Being labeled as in accompanying drawing: 1-pedal, 2-cylinder, 3-rear support stand, S1, S4, S5-spherical pair, P1, P2, P3-cylinder moving sets.
The wearable rehabilitation training machine for ankle joint device of Fig. 2 people apparatus structure Fig. 2.
Being labeled as in accompanying drawing: 4,5-cylinder, 6-pad, 7-bolt, 8-shank overcoat, 9-holding screw 1,10-shank protective pad, 11-brace, 12-holding screw 2, the two spherical mechanisms of S2-, S3, S6-spherical mechanism.
The wearable rehabilitation training machine for ankle joint device of Fig. 3 people device top view.
Fig. 4 rear support stand bottom spherical pair structure three-dimensional Local map.
The wearable rehabilitation training machine for ankle joint device of Fig. 5 people device is used simulation drawing.
The specific embodiment
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in embodiment is clearly and completely described, obviously, described embodiment is only this utility model part embodiment, rather than whole embodiment.Embodiment based in this utility model, those of ordinary skills are not making the every other embodiment obtaining under creative work prerequisite, all belong to the scope of this utility model protection.
Embodiment: wearable rehabilitation training machine for ankle joint device people structure drawing of device is if Fig. 1 is as shown in Fig. 2: shank overcoat 8 is connected by three side chains in parallel with pedal 1, form the parallel institution with 3 rotational freedoms, the silent flatform that shank overcoat 8 is parallel institution, the moving platform that pedal 1 is parallel institution.Article three, side chain is respectively by holding screw 12 and directly connects silent flatform, passes through the rear support stand 3 that spherical pair S6 connects moving platform, the S-P-S side chain that the moving sets P2 being formed by the spherical pair S4 on shank overcoat 8, cylinder 2 and the spherical pair S5 on pedal form, the S-P-S-P-S side chain that the moving sets P1 being formed by the spherical pair S1 on shank overcoat 8, cylinder 1, the two spherical pair S2 on pedal 1, moving sets P3 that cylinder 3 forms and the spherical pair S3 on shank overcoat 8 form.Rear support stand 3 is connected with shank overcoat 8 with holding screw 9 by holding screw 12, brace 11.Shank overcoat 8 is C type structure, can, by regulating the thickness of pad 6 and the pretension amount of bolt 7 to adjust the thickness of shank overcoat 8, shank protective pad 10 be housed in shank overcoat 8.
For better observation and analysis structure of the present utility model, spy has increased Fig. 3, Fig. 4, Fig. 5.As shown in Figure 4, rear support stand 3 polycrystalline substance sizes are determined according to model of human ankle space, can be played the effect of safeguard protection.
Work process: before rehabilitation training, Physical Therapist helps patient to dress this device.When patient dresses this device, should adjust pad 6 and bolt 7, device is dressed in place, to adapt to different leg sizes to improve comfort level etc.Device is input to installation data in control system by Physical Therapist after dressing well.People is when walking, and control system is by the stroke of control cylinder, thus the angle that control ankle joint rotates.When the stroke of cylinder 2, cylinder 4, cylinder 5 changes, just can drive pedal 1 to realize the rehabilitation training of 3 degree of freedom of ankle joint by spherical pair.In training process, sensor meeting Real-time Collection patient's training kinematic parameter, among capture card is stored into control system, so that Physical Therapist's analyzing and training effect after training is formulated follow-up training program.
Above combination most preferred embodiment is described this utility model, but this utility model is not limited to the embodiment of above announcement, and should contain the various modifications of carrying out according to essence of the present utility model, equivalent combinations.
Claims (4)
1. a wearable rehabilitation training machine for ankle joint device people device, it is characterized in that: comprise shank overcoat, shank protective pad, rear support stand, cylinder, pedal, brace, holding screw, bolt, pad, described shank overcoat is connected by three side chains in parallel with pedal, forms the parallel institution with three rotational freedoms.
2. wearable rehabilitation training machine for ankle joint device people device according to claim 1, is characterized in that: three described side chains in parallel comprise that one end is connected with shank overcoat by holding screw, the rear support stand that one end is connected with pedal by spherical pair; The active branched chain that one group of cylinder is directly connected to form by spherical pair and shank overcoat and pedal; Other two groups of cylinders are connected to shank overcoat and the foot-operated active branched chain forming after connecting by two spherical pairs.
3. wearable rehabilitation training machine for ankle joint device people device according to claim 1 and 2, is characterized in that: in described shank overcoat, be lined with shank protective pad, pad and bolt scalable shank overcoat thickness.
4. wearable rehabilitation training machine for ankle joint device people device according to claim 1 and 2, is characterized in that: described rear support stand is connected with holding screw by brace with shank overcoat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420160167.XU CN203861522U (en) | 2014-04-03 | 2014-04-03 | Wearable ankle rehabilitation training robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420160167.XU CN203861522U (en) | 2014-04-03 | 2014-04-03 | Wearable ankle rehabilitation training robot device |
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| Publication Number | Publication Date |
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| CN203861522U true CN203861522U (en) | 2014-10-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420160167.XU Expired - Fee Related CN203861522U (en) | 2014-04-03 | 2014-04-03 | Wearable ankle rehabilitation training robot device |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104983547A (en) * | 2015-07-10 | 2015-10-21 | 哈尔滨天愈康复医疗机器人有限公司 | Three-degree-of-freedom wearable ankle rehabilitation medical robot |
| CN105030481A (en) * | 2015-07-10 | 2015-11-11 | 哈尔滨天愈康复医疗机器人有限公司 | Redundant drive three-degree-of-freedom ankle rehabilitation medical robot |
| CN105250113A (en) * | 2015-07-10 | 2016-01-20 | 哈尔滨天愈康复医疗机器人有限公司 | Six-degree of freedom wearable ankle rehabilitation medical robot |
| CN105726264A (en) * | 2016-04-25 | 2016-07-06 | 合肥工业大学 | Health training robot |
| CN106109184A (en) * | 2016-07-28 | 2016-11-16 | 桂林电子科技大学信息科技学院 | Ankle from sprains assists walking device |
| CN108354787A (en) * | 2018-04-10 | 2018-08-03 | 超微（上海）骨科医院管理股份有限公司 | A kind of five degree of freedom information exchange ankle rehabilitation parallel robot |
| 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 |
| CN109091816A (en) * | 2018-10-19 | 2018-12-28 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | A kind of bi-directional drive ankle joint rehabilitation training ectoskeleton |
| CN109700637A (en) * | 2019-02-28 | 2019-05-03 | 燕山大学 | A kind of robot for rehabilitation of anklebone |
| CN109771888A (en) * | 2019-02-25 | 2019-05-21 | 渤海大学 | A kind of ankle three-dimensional force training device |
| CN110464600A (en) * | 2019-08-23 | 2019-11-19 | 江苏博润医疗集团有限公司 | A kind of traction device for functional training |
| CN110974681A (en) * | 2019-12-26 | 2020-04-10 | 安徽伽马莱恩机器人有限公司 | Ankle swing massage device |
| CN113635291A (en) * | 2020-11-11 | 2021-11-12 | 中南大学 | Three-degree-of-freedom hybrid anthropomorphic wrist device |
| CN113768756A (en) * | 2021-08-12 | 2021-12-10 | 重庆交通大学 | Wearable electric intelligent exoskeleton device for helping disabled |
-
2014
- 2014-04-03 CN CN201420160167.XU patent/CN203861522U/en not_active Expired - Fee Related
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104983547A (en) * | 2015-07-10 | 2015-10-21 | 哈尔滨天愈康复医疗机器人有限公司 | Three-degree-of-freedom wearable ankle rehabilitation medical robot |
| CN105030481A (en) * | 2015-07-10 | 2015-11-11 | 哈尔滨天愈康复医疗机器人有限公司 | Redundant drive three-degree-of-freedom ankle rehabilitation medical robot |
| CN105250113A (en) * | 2015-07-10 | 2016-01-20 | 哈尔滨天愈康复医疗机器人有限公司 | Six-degree of freedom wearable ankle rehabilitation medical robot |
| 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 |
| CN105726264A (en) * | 2016-04-25 | 2016-07-06 | 合肥工业大学 | Health training robot |
| CN105726264B (en) * | 2016-04-25 | 2017-12-26 | 合肥工业大学 | A kind of healthy image training robot |
| CN106109184A (en) * | 2016-07-28 | 2016-11-16 | 桂林电子科技大学信息科技学院 | Ankle from sprains assists walking device |
| 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 |
| CN108354787A (en) * | 2018-04-10 | 2018-08-03 | 超微（上海）骨科医院管理股份有限公司 | A kind of five degree of freedom information exchange ankle rehabilitation parallel robot |
| 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 |
| CN109091816A (en) * | 2018-10-19 | 2018-12-28 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | A kind of bi-directional drive ankle joint rehabilitation training ectoskeleton |
| CN109771888A (en) * | 2019-02-25 | 2019-05-21 | 渤海大学 | A kind of ankle three-dimensional force training device |
| CN109700637A (en) * | 2019-02-28 | 2019-05-03 | 燕山大学 | A kind of robot for rehabilitation of anklebone |
| CN109700637B (en) * | 2019-02-28 | 2024-02-23 | 燕山大学 | Ankle joint rehabilitation robot |
| CN110464600A (en) * | 2019-08-23 | 2019-11-19 | 江苏博润医疗集团有限公司 | A kind of traction device for functional training |
| CN110974681A (en) * | 2019-12-26 | 2020-04-10 | 安徽伽马莱恩机器人有限公司 | Ankle swing massage device |
| CN113635291A (en) * | 2020-11-11 | 2021-11-12 | 中南大学 | Three-degree-of-freedom hybrid anthropomorphic wrist device |
| CN113768756A (en) * | 2021-08-12 | 2021-12-10 | 重庆交通大学 | Wearable electric intelligent exoskeleton device for helping disabled |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141008 Termination date: 20150403 |
|
| EXPY | Termination of patent right or utility model |