Bionic external tendon device and method for ankle cooperative assistance and training

Abstract

The invention 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, and 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 ends of the two first outer tendon ropes are connected with the two sides of the bottom of the front sole bandage respectively, sequentially penetrate through guide holes in the rear sides of the heel protective sleeve and the shank protective sleeve and then are connected with the power mechanism; one end of the second external tendon rope is connected to the top of the front sole bandage, and is connected with the power mechanism after penetrating through a guide hole in the front side of the shank sheath. Multi-dimensional cooperative movement of the foot and the ankle joint and hierarchical control over the plantar tension and the ankle joint auxiliary force can be achieved, the assisting and training effect is improved through cooperative movement of the ankle, the two first outer tendon ropes of the plantar are arranged in a crossed mode, when the first outer tendon ropes are pulled, the foot arch is extruded, and the ankle joint auxiliary force is increased. And the arch training is enhanced.

Description

Technical Field

[0001] The present application belongs to the field of foot and ankle assisting and training devices, and more specifically, to a bionic external tendon device and method for foot and ankle coordinated assisting and training. Background Art

[0002] Ankle joint motion assist devices can improve human athletic ability, reduce metabolic energy, and also perform rehabilitation training for the ankle joint to accelerate the healing and recovery process of damaged tissues. Therefore, it is necessary to use foot and ankle assist and training devices to help improve athletic performance and ankle joint rehabilitation training.

[0003] Most of the existing ankle assistance and training devices are limited to controlling the ankle joint. For example, the ankle exoskeleton mainly provides assistance for the plantar flexion of the ankle joint, focusing on improving gait stability and reducing energy consumption. However, with the further improvement of sports performance requirements and the increase in patients' sports rehabilitation or sports orthopedic needs, single-dimensional sports assistance can no longer meet the needs of complex sports and rehabilitation scenarios. It is urgent to design an ankle assistance and training device that can control multi-dimensional sports. Summary of the invention

[0004] In response to the defects of the prior art, the present application provides a bionic external tendon device and method for coordinated foot and ankle assistance and training, aiming to solve the problem that the existing foot and ankle training devices only provide single-dimensional motion assistance, resulting in poor assistance and rehabilitation training effects and prolonged ankle joint rehabilitation time.

[0005] The present application provides a bionic external tendon device for foot and ankle coordinated assistance and training, which specifically includes a forefoot sleeve, a rear heel sleeve, a calf sleeve, an external tendon rope group, a limiting mechanism and a power mechanism; the external tendon rope group includes two first external tendon ropes and one second external tendon rope, one end of the two first external tendon ropes are respectively connected to the two sides of the bottom of the forefoot strap, and the first external tendon rope reaches the heel parallel to the sole of the foot, and is led upward and passes through the guide holes on the rear sides of the rear heel sleeve and the calf sleeve in turn, and is fixedly connected to the output end of the power mechanism; One end of the second external tendon rope is connected to the top of the forefoot strap, and the second external tendon rope is fixedly connected to the output end of the power mechanism after passing through the guide hole on the front side of the calf cover; the power mechanism pulls any one of the first external tendon ropes or the second external tendon rope or pulls the two first external tendon ropes at the same time to pull the forefoot cover to drive the ankle movement; the first external tendon rope and the second external tendon rope are both provided with a limiting mechanism, and the limiting mechanism is used to limit the maximum length of the rope movement between the starting point of the first external tendon rope or the second external tendon rope to the limiting mechanism.

[0006] Through the above technical scheme conceived by the present application, compared with the prior art, since the present application adopts the design of pulling the first external tendon rope and the second external tendon rope by a power mechanism, it is possible to realize multi-dimensional motion control of the foot and ankle joint, and ensure the stable movement of the foot and ankle in multiple directions such as inversion, eversion, plantar flexion, and dorsiflexion. This method provides efficient mechanical conduction, ensures the stability and flexibility of the foot and ankle joint during movement, and is suitable for foot and ankle rehabilitation and sports assistance. Through the coordinated movement of the foot and ankle, it improves gait stability, improves comfort and movement efficiency, and can achieve the beneficial effect of improving the effect of assistance and rehabilitation training, and shortening the rehabilitation time of the ankle joint; at the same time, through the setting of the limiting mechanism, graded control of the foot and ankle joint is realized, and personalized adjustment can be made according to the different rehabilitation stages of the patient, effectively avoiding excessive stress in the toe area, while ensuring the natural movement of the foot and ankle joint, and further improving the effect of rehabilitation training.

[0007] As a further preferred embodiment, the two first outer tendon ropes are cross-arranged at a position between the forefoot cover and the heel cover.

[0008] By adopting the above technical solution, the two first external tendon ropes are cross-arranged. When any one of the first external tendon ropes is pulled, it can produce a squeezing effect on the transverse and longitudinal arch of the sole of the foot, enhance the stiffness of the foot, and thus improve the support capacity and stability of the foot. This function is particularly suitable for assistance and rehabilitation scenarios that require arch correction, which helps to improve the foot's carrying capacity and adapt to different sports needs.

[0009] As a further preferred embodiment, the heel cover is provided with two first guide holes arranged in a vertical direction and parallel to each other, the calf cover is provided with two second guide holes arranged in a vertical direction and parallel to each other, and the first external tendon rope is connected to the power mechanism after passing through the first guide hole and the second guide hole on the same side in sequence.

[0010] By adopting the above technical solution, the first external tendon rope passes through the first guide hole on the rear heel cover and the second guide hole on the calf cover on the same side, so that it is arranged neatly and more stable when pulled, avoiding mutual interference.

[0011] As a further preferred embodiment, the cross-arranged portions of the two first external tendon ropes are both provided with anti-wear sleeves.

[0012] By adopting the above technical solution, the first external tendon rope is protected by an anti-wear sleeve to prevent the two first external tendon ropes from moving relative to each other and affecting their service life after repeated wear.

[0013] As a further preferred embodiment, the limiting mechanism abuts against the heel guard or the calf guard after the first external tendon rope or the second external tendon rope moves, and graded control of plantar tension and ankle joint auxiliary force is achieved by adjusting the limiting mechanism.

[0014] By adopting the above technical solution and adjusting the position of the limiting mechanism, the forces on the foot and ankle joint can be adjusted respectively. When the first external tendon rope is pulled, the limiting mechanism abuts against the rear heel sleeve, so that the maximum auxiliary force Fa applied to the sole of the foot is applied. When the force applied by the external tendon rope is less than or equal to Fa, the forces on the foot and ankle joint are the same; when the applied force is greater than Fa, the force on the foot is limited to Fa, that is, the maximum tension given to the sole by the external tendon, and the remaining force is borne by the ankle joint. When the first external tendon rope is pulled, the limiting mechanism abuts against the calf strap, which can limit the extreme position of plantar flexion of the ankle joint. The hierarchical control mechanism is adopted to effectively distribute the force on the plantar plane and the auxiliary force of the ankle joint, thereby achieving support for the coordinated movement of the foot and ankle, promoting the assistance and training of the intrinsic muscles of the plantar, and helping to improve the movement and support ability of the foot. When the second external tendon rope is pulled, the limiting mechanism abuts against the calf strap, which can limit the extreme position of dorsiflexion of the ankle joint.

[0015] As a further preferred embodiment, the limiting mechanism includes a limiting sleeve and a threaded locking piece, the limiting sleeve is arranged on the first external tendon rope or the second external tendon rope, the threaded locking piece is threadedly connected to the corresponding limiting sleeve and the threaded locking piece can be rotated to abut against the first external tendon rope or the second external tendon rope.

[0016] By adopting the above technical solution, the sliding limit sleeve adjusts its position on the external tendon rope, and abuts against the external tendon rope by rotating the threaded locking piece, so that the position of the limit sleeve is fixed. The operation is convenient and quick, and the position of the limit sleeve is easy to adjust.

[0017] As further preferred, one end of the first external tendon rope or the second external tendon rope is fixedly connected to the forefoot cover.

[0018] By adopting the above technical solution, the device has better integrity and is easy to store and carry. At the same time, the first external tendon rope or the second external tendon rope is more stable when pulling the forefoot sheath.

[0019] As a further preference, the heel guard is further provided with a strap for fixing the foot and the heel guard.

[0020] By adopting the above technical solution, the connection is more stable when the heel cover is worn on the foot, thereby improving the training effect.

[0021] As further preferred, the power mechanism includes three motors, and the ends of the first external tendon rope and the second external tendon rope are fixedly connected to the output shafts of the three motors respectively.

[0022] By adopting the above technical solution, one or two of the three motors are started according to the needs of use, which makes it easy to control the pulling of the first external tendon rope and the second external tendon rope, and the control is convenient and stable.

[0023] The present application provides a foot-ankle coordinated assistance and training method, which uses the above-mentioned bionic external tendon device and includes the following steps:

[0024] S1: Wear the forefoot sleeve, heel sleeve and calf sleeve in sequence;

[0025] S2: adjusting the limit mechanism so that when the power mechanism pulls the first external tendon rope or the second external tendon rope, the maximum length of movement of the limit mechanism is a predetermined value, 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, releases the first external tendon rope and then pulls the second external tendon rope, and repeats this process multiple times;

[0026] S3: adjusting the limit mechanism so that when the power mechanism pulls the first external tendon rope or the second external tendon rope, the maximum length of movement of the limit mechanism increases;

[0027] 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, releases the first external tendon rope and then pulls the second external tendon rope, and repeats this process multiple times;

[0028] S5: Repeat steps S3 and S4 according to the assistance and training progress and user feedback until the foot-ankle coordinated assistance and training are completed.

[0029] In general, the above technical solutions conceived by this application have the following technical advantages compared with the prior art:

[0030] 1. In the present application, a power mechanism is used to pull the first external tendon rope and the second external tendon rope, and the first external tendon rope is cross-arranged. The user's foot and ankle joint are pulled by the first external tendon rope and the second external tendon rope, and multi-dimensional motion control is performed. The foot and ankle move in coordination, and the stable movement of the ankle in multiple directions such as inversion, eversion, plantar flexion, and dorsiflexion is ensured. This method provides efficient mechanical conduction, ensures the stability and flexibility of the foot and ankle joint during movement, is suitable for foot and ankle assistance, rehabilitation and sports assistance, and improves gait stability by optimizing the coordinated movement of the foot and ankle. , improve comfort and exercise efficiency, can achieve the beneficial effect of improving the effect of power assistance and rehabilitation training, and shorten the rehabilitation time of ankle joints; at the same time, the limiting mechanism realizes the graded control of the foot and ankle joints, limiting the maximum moving length of the rope between the starting point of the first external tendon rope or the second external tendon rope and the limiting mechanism. The device reasonably distributes the force of the foot and ankle joints under different force conditions, and can be personalized according to the power assistance and different rehabilitation stages, effectively avoiding excessive force in the toe area, while ensuring the natural movement of the foot and ankle joints, and improving the effect of power assistance and rehabilitation training.

[0031] 2. The present application can adjust the forces on the foot and ankle joints separately by adjusting the position of the limiting mechanism. When the first external tendon rope is pulled, the limiting mechanism abuts against the rear heel cover, so that the maximum auxiliary force Fa applied to the sole of the foot is achieved. When the force applied by the external tendon rope is less than Fa, the forces on the foot and ankle joints are the same; when the applied force is greater than Fa, the force on the foot is limited to Fa, and the remaining force is borne by the ankle joint. When the first external tendon rope is pulled, the limiting mechanism abuts against the calf strap, which can limit the extreme position of plantar flexion of the ankle joint. When the second external tendon rope is pulled, the limiting mechanism abuts against the calf strap, which can limit the extreme position of dorsiflexion of the ankle joint. A graded control mechanism is adopted to effectively distribute the force on the plantar plane and the auxiliary force of the ankle joint, thereby supporting the coordinated movement of the foot and ankle, promoting the training of the intrinsic muscles of the plantar foot, and helping to improve the movement and support ability of the foot.

[0032] 3. During the assistance and rehabilitation training, since the two first external tendon ropes are cross-set, when any one of the first external tendon ropes is pulled, it can produce a squeezing effect on the transverse and longitudinal arch of the sole of the foot, increasing the tension at both ends of the sole and the left and right sides, thereby enhancing the stiffness of the foot, thereby improving the support capacity and stability of the foot. This function is particularly suitable for rehabilitation scenarios that require arch correction. At the same time, it activates the sole muscles, enhances foot strength, and improves the foot's adaptability to external loads, which helps to improve the foot's carrying capacity and adapt to different sports needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the overall structure of the bionic external tendon device provided in the embodiment of the present application;

[0034] Figure 2 It is a schematic diagram of the overall structure of the limiting mechanism provided in the embodiment of the present application;

[0035] Figure 3 It is a schematic diagram of foot force provided in an embodiment of the present application;

[0036] Figure 4 It is a schematic diagram of the position movement change of the limiting mechanism provided in the embodiment of the present application;

[0037] Figure 5 It is a schematic diagram of the overall structure of the power mechanism provided in the embodiment of the present application;

[0038] Figure 6 It is a schematic diagram of the front view structure of the bionic external tendon device provided in an embodiment of the present application.

[0039] Throughout the drawings, the same reference numerals are used to denote the same elements or structures, wherein:

[0040] 1. Forefoot cover; 2. Heel cover; 21. First guide hole; 3. Calf cover; 31. Second guide hole; 4. External tendon rope group; 4-1. First external tendon rope; 4-2. Second external tendon rope; 5. Limiting mechanism; 51. Limiting sleeve; 52. Threaded locking piece; 6. Power mechanism; 61. Motor. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0042] Reference Figure 1 The present application discloses a bionic external tendon device for coordinated assistance and training of the foot and ankle, comprising a forefoot sleeve 1, a rear heel sleeve 2, a calf sleeve 3, an external tendon rope group 4, a limiting mechanism 5 and a power mechanism 6, wherein the forefoot sleeve 1 is worn at the forefoot position when in use, the rear heel sleeve 2 is worn at the heel position when in use, and the calf sleeve 3 is worn at the calf position when in use, and a strap is provided on the rear heel sleeve 2, by which the rear heel sleeve 2 and the foot are fixed, and the movement of the foot and the movement of the calf are connected by the external tendon rope group 4 to achieve coordinated assistance and training.

[0043] In this embodiment, the external tendon rope group 4 includes two first external tendon ropes 4-1 and one second external tendon rope 4-2. The first external tendon rope 4-1 and the second external tendon rope 4-2 are both made of steel wire ropes. One end of the two first external tendon ropes 4-1 are respectively fixedly connected to the two sides of the bottom of the forefoot strap 1, and the first external tendon rope 4-1 reaches the heel parallel to the sole of the foot, and is led upward and passes through the guide holes on the rear side of the rear heel cover 2 and the calf cover 3 in turn, and then is fixedly connected to the output end of the power mechanism 6. The two first external tendon ropes 4-1 are located between the forefoot cover 1 and the rear heel cover 2 and are cross-arranged; one end of the second external tendon rope 4-2 is connected to the top of the forefoot strap 1, and the second external tendon rope 4-2 is fixedly connected to the output end of the power mechanism 6 after passing through the guide hole on the front side of the calf cover 3. Specifically, the heel cover 2 is integrally formed with a first positioning block, and two first guide holes 21 arranged in the vertical direction and parallel to each other are provided on the first positioning block. The calf cover 3 is integrally formed with a second positioning block, and two second guide holes 31 arranged in the vertical direction and parallel to each other are provided on the second positioning block. The first external tendon rope 4-1 passes through the first guide hole 21 and the second guide hole 31 on the same side in sequence and is connected to the power mechanism 6, and the first external tendon rope 4-1 is parallel to the calf. During the power assistance and rehabilitation training, the user's foot and ankle joint perform ankle dorsiflexion, inversion and plantar flexion eversion through the traction of the first external tendon rope 4-1 and the second external tendon rope 4-2. The calf cover 3 is also integrally formed with a third positioning block, and a third guide hole arranged in the vertical direction is provided on the third positioning block. The second external tendon rope 4-2 at the top of the forefoot cover 1 can be used to assist the ankle dorsiflexion movement, and the second external tendon rope 4-2 is provided with a limiting mechanism 5 to limit the ankle dorsiflexion limit position.

[0044] In another feasible embodiment, one end of the first external tendon rope 4-1 and the second external tendon rope 4-2 are connected to the forefoot cover 1 by Velcro. Specifically, the bottom of the forefoot cover 1 is fixedly connected with the Velcro fleece surface, and one end of the two first external tendon ropes 4-1 and the second external tendon ropes 4-2 are fixedly connected with the Velcro hook surface. When connecting, the Velcro hook surface is bonded to the Velcro fleece surface. In this way, the forefoot cover 1 can be replaced according to the different sizes of the user's feet, and the user can wear it more appropriately. The first external tendon rope 4-1 and the second external tendon rope 4-2 can also be connected to the forefoot cover 1 by buckles.

[0045] Specifically, the power mechanism 6 pulls any one of the first external tendon rope 4-1 or the second external tendon rope 4-2 or pulls two of the first external tendon ropes 4-1 at the same time to pull the forefoot cover 1 to drive the ankle movement. The power mechanism 6 includes three motors 61. The ends of the first external tendon rope 4-1 and the second external tendon rope 4-2 are respectively fixedly connected to the output shafts of the three motors 61. One or two of the three motors 61 are started according to the needs of use, so as to control the pulling of the first external tendon rope 4-1 and the second external tendon rope 4-2.

[0046] More specifically, initially, the first external tendon rope 4-1 is in a basic tension state, the foot and ankle joint are not subjected to obvious external traction, the limiting mechanism 5 is located near the rope threading hole of the heel pad, and when the user starts rehabilitation training, the first external tendon rope 4-1 begins to play a role, and the first external tendon rope 4-1 drives the foot and ankle joint to perform multi-dimensional movements through mechanical traction. Specifically, both first external tendon ropes 4-1 can drive the ankle joint to complete plantar flexion movement. When the first external tendon rope 4-1 on the outside of the ankle joint is pulled, it can drive the ankle joint to evert and promote the inner side of the forefoot to produce coordinated movement; and when the first external tendon rope 4-1 on the inside of the ankle joint is pulled, it mainly drives the ankle joint to evert and promotes the corresponding coordinated movement on the outer side of the forefoot. When the power mechanism pulls the second external tendon rope 4-2, it can assist the ankle joint dorsiflexion.

[0047] Furthermore, a limiting mechanism 5 is provided on both the first external tendon rope 4-1 and the second external tendon rope 4-2. By adjusting the position of the limiting mechanism 5, the force on the foot and ankle joint can be adjusted in stages. The limiting mechanism 5 is used to limit the maximum length of the 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 mechanism 5. When the limiting mechanism 5 abuts against the rear heel cover 2, the maximum moving length of the steel wire rope from the forefoot cover 1 to the limiting mechanism 5 of the external tendon rope 4 is limited, that is, the maximum tension of the sole of the foot is limited. Specifically, when the first external tendon rope 4-1 is pulled, the limiting mechanism 5 abuts against the bottom surface of the first positioning block on the rear heel cover 2. Furthermore, the limiting mechanism 5 includes two limiting sleeves 51 and a threaded locking piece 52. The limiting sleeve 51 is sleeved on the first external tendon rope 4-1 or the second external tendon rope 4-2. The threaded locking piece 52 is threadedly connected to the corresponding limiting sleeve 51 and the threaded locking piece 52 can be abutted against the first external tendon rope 4-1 or the second external tendon rope 4-2 by rotating the threaded locking piece 52. The sliding limiting sleeve 51 adjusts its position on the first external tendon rope 4-1 or the second external tendon rope 4-2, and abuts against the first external tendon rope 4-1 by rotating the threaded locking piece 52, so that the position of the limiting sleeve 51 is fixed. By adjusting the position of the limiting sleeve 51, the maximum auxiliary force Fa applied to the sole of the foot can be adjusted. Specifically, Fa is not greater than 100N, and the specific value can be determined according to actual needs. In this embodiment, Fa is 55N. When the force applied by the first external tendon rope 4-1 is less than or equal to Fa, the forces on the foot and ankle joint are the same; when the force applied by the first external tendon rope 4-1 is greater than Fa, the heel sleeve 2 is directly pulled by the limiting sleeve 51, and the force on the foot is limited to Fa, and the remaining force is borne by the ankle joint. When the limiting mechanism 5 abuts against the calf sleeve 3, the extreme position of plantar flexion of the ankle joint can be limited. The hierarchical control mechanism is adopted to effectively distribute the force on the plantar plane and the auxiliary force of the ankle joint, ensuring that the foot will not be subjected to excessive pressure, thereby avoiding excessive force on the toes, thereby achieving support for the coordinated movement of the foot and ankle, promoting the training of the intrinsic muscles of the plantar foot, and helping to improve the movement and support ability of the foot. When the second external tendon rope 4-2 is pulled and the limiting mechanism 5 abuts against the calf sleeve 3, the extreme position of dorsiflexion of the ankle joint can be achieved.

[0048] Further, refer to Figure 3As shown, the two first external tendon ropes 4-1 are cross-arranged at the position between the forefoot sheath 1 and the heel sheath 2. When the two first external tendon ropes 4-1 are cross-arranged, the multi-dimensional motion control effect of the foot and ankle is better. When any one of the first external tendon ropes 4-1 is pulled, since the first external tendon rope 4-1 is inclined, the force of the first external tendon rope 4-1 is decomposed. Under the pulling force of the first external tendon rope 4-1, the inherent muscles close to the forefoot and the heel are squeezed toward the middle of the foot, which can produce a squeezing effect on the transverse and longitudinal arch of the sole of the foot, enhance the stiffness of the foot, thereby improving the support capacity and stability of the foot. This function is particularly suitable for rehabilitation scenarios that require arch correction, which helps to improve the foot's bearing capacity and adapt to different sports needs.

[0049] In the present application, not only mechanical control of ankle movement is achieved through the first external tendon rope 4-1 and the second external tendon rope 4-2, but also the intrinsic muscles of the plantar and the external muscles of the calf are activated through mechanical action, which makes up for the shortcomings of existing rehabilitation devices in intrinsic muscle training. During the rehabilitation training process, the intrinsic muscles of the plantar participate in the movement under passive traction, forming coordinated training of the intrinsic muscles of the plantar and the external muscles of the calf, thereby being strengthened, which helps to restore foot strength and flexibility. The intrinsic muscles refer to the muscles originating from the foot and ending at the foot, and the external muscles refer to the muscles originating from the leg, crossing the ankle joint, and attached to the foot.

[0050] The present application also discloses a foot-ankle coordinated assistance and training method, comprising the following steps:

[0051] S1: Wear the forefoot sleeve 1, the heel sleeve 2 and the calf sleeve 3 in sequence;

[0052] S2: Adjust the limiting mechanism 5 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 the predetermined value L1, L1 is 10mm, at this time, the first external tendon rope 4-1 is pulled to make the limiting sleeve 51 contact with the rear heel sleeve 2, so that the maximum auxiliary force Fa applied to the sole of the foot, Fa is 55N, when the force applied by the external tendon rope 4 is less than or equal to Fa, the force on the foot and ankle joint is the same; when the force is greater than Fa, the force on the foot is limited to Fa, and the remaining force is borne by the ankle joint, start the power mechanism 6 to pull the first external tendon rope 4-1 in turn, and then pull the two first external tendon ropes 4-1 at the same time, release the first external tendon rope 4-1 and then pull the second external tendon rope 4-2, the power mechanism 6 pulls the second external tendon rope 4-2 to assist the ankle joint dorsiflexion, and after rising through the limiting mechanism 5, it contacts with the calf sleeve 3, limiting the ankle joint dorsiflexion limit position, and repeats multiple times;

[0053] S3: According to the actual needs of rehabilitation training, the limiting mechanism 5 is adjusted 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 the limiting mechanism 5 moving increases to L2, L2 is greater than L1, and L2 in this embodiment is 15mm, that is, the maximum length of the external tendon rope 4 moved by the power mechanism 6 is increased by 5mm. At this time, the external tendon rope 4 is pulled to make the limiting sleeve 51 abut against the rear heel sleeve 2, so that the maximum auxiliary force Fb applied to the sole of the foot is greater than Fa. In this embodiment, Fb is 65N. When the force applied by the external tendon rope 4 is less than or equal to Fb, the forces on the foot and ankle joint are the same; when the force applied is greater than Fb, the force on the foot is limited to Fb, and the remaining force is borne by the ankle joint;

[0054] S4: Start the power mechanism 6 again to pull the two first external tendon ropes 4-1 in sequence and then pull the two first external tendon ropes 4-1 at the same time, release the first external tendon rope 4-1 and then pull the second external tendon rope 4-2, and repeat this process multiple times;

[0055] S5: According to the progress of assistance and rehabilitation training and user feedback, steps S3 and S4 are repeated. After each adjustment of the limiting mechanism 5, the increase in the maximum length of the first external tendon rope 4-1 pulled by the power mechanism 6 decreases successively. For example, after adjusting the limiting mechanism 5 again, the maximum length of the first external tendon rope 4-1 pulled by the power mechanism 6 increases to L3, and L3 is 18mm, that is, the maximum length of the first external tendon rope 4-1 pulled by the power mechanism 6 is 3mm, which is easy for users to accept until the coordinated assistance and training of the foot and ankle are completed.

[0056] It should be understood that expressions such as "include" and "may include" used in this application indicate the existence of the disclosed functions, operations or constituent elements, and do not limit one or more additional functions, operations and constituent elements. In this application, terms such as "include" and / or "have" may be interpreted as indicating specific characteristics, numbers, operations, constituent elements, components or combinations thereof, but may not be interpreted as excluding the existence or possibility of adding one or more other characteristics, numbers, operations, constituent elements, components or combinations thereof.

[0057] It should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0058] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0059] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0060] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A bionic external tendon device for foot and ankle coordinated assistance and training, characterized in that: It comprises a forefoot protective cover (1), a heel protective cover (2), a calf protective cover (3), an outer tendon rope group (4), a limiting mechanism (5) and a power mechanism (6); The external tendon rope group (4) comprises two first external tendon ropes (4-1) and one second external tendon rope (4-2), one end of the two first external tendon ropes (4-1) are respectively connected to the two sides of the bottom of the forefoot strap (1), and the first external tendon rope (4-1) is parallel to the sole of the foot to reach the heel, and is led upward and passes through the guide holes on the rear side of the heel sleeve (2) and the calf sleeve (3) in turn, and is fixedly connected to the output end of the power mechanism (6); one end of the second external tendon rope (4-2) is connected to the top of the forefoot strap (1), and the second external tendon rope (4-2) passes through the guide hole on the front side of the calf sleeve (3) and is fixedly connected to the output end of the power mechanism (6); The power mechanism (6) pulls any one of the first external tendon ropes (4-1) or the second external tendon rope (4-2) or pulls the two first external tendon ropes (4-1) at the same time to pull the forefoot sheath (1) to drive the ankle to move; A limiting mechanism (5) is provided on both the first external tendon rope (4-1) and the second external tendon rope (4-2), and the limiting mechanism (5) is used to limit 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 mechanism (5).

2. A bionic external tendon device for foot-ankle coordinated assistance and training as claimed in claim 1, characterized in that: The two first outer tendon ropes (4-1) are arranged crosswise at a position between the forefoot sheath (1) and the heel sheath (2).

3. A bionic extrinsic tendon device for foot-ankle coordinated assistance and training as claimed in claim 1, characterized in that: The rear side of the heel guard (2) is provided with two first guide holes (21) arranged in a vertical direction and parallel to each other, and the rear side of the calf guard (3) is provided with two second guide holes (31) arranged in a vertical direction and parallel to each other, and the first external tendon rope (4-1) passes through the first guide hole (21) and the second guide hole (31) on the same side in sequence and is connected to the power mechanism (6).

4. A bionic external tendon device for foot-ankle coordinated assistance and training as claimed in claim 2, characterized in that: The cross-arranged positions of the two first external tendon ropes (4-1) are both covered with anti-wear sleeves.

5. A bionic external tendon device for foot-ankle coordinated assistance and training as claimed in claim 1, characterized in that: The limiting mechanism (5) abuts against the rear heel cover (2) or the calf cover (3) after the first external tendon rope (4-1) or the second external tendon rope (4-2) moves, and graded control of plantar tension and ankle joint auxiliary force is achieved by adjusting the limiting mechanism (5).

6. A bionic external tendon device for foot-ankle coordinated assistance and training as claimed in claim 5, characterized in that: The limiting mechanism (5) comprises a limiting sleeve (51) and a threaded locking member (52); the limiting sleeve (51) is sleeved on the first external tendon rope (4-1) or the second external tendon rope (4-2); the threaded locking member (52) is threadedly connected to the corresponding limiting sleeve (51) and the threaded locking member (52) can be rotated to abut against the first external tendon rope (4-1) or the second external tendon rope (4-2).

7. A bionic extrinsic tendon device for foot-ankle coordinated assistance and training as claimed in claim 1, characterized in that: One end of the first outer tendon rope (4-1) or the second outer tendon rope (4-2) is fixedly connected to the forefoot protective cover (1).

8. A bionic external tendon device for foot-ankle coordinated assistance and training as claimed in claim 1, characterized in that: The rear heel protection cover (2) is also provided with a strap for fixing the foot and the rear heel protection cover (2).

9. A bionic external tendon device for foot-ankle coordinated assistance and training as claimed in claim 8, characterized in that: The power mechanism (6) comprises three motors (61), and the ends of the first external tendon rope (4-1) and the second external tendon rope (4-2) are respectively fixedly connected to the output shafts of the three motors (61).

10. A foot-ankle coordinated assistance and training method, using the bionic external tendon device according to any one of claims 1 to 9, characterized in that: The steps include: S1: Wear the forefoot cover (1), heel cover (2) and calf cover (3) in sequence; S2: adjusting the limiting mechanism (5) 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 a predetermined value, the power mechanism (6) pulls the two first external tendon ropes (4-1) in sequence and then pulls the two first external tendon ropes (4-1) at the same time, releases the first external tendon rope (4-1) and then pulls the second external tendon rope (4-2), and repeats this process multiple times; S3: adjusting the limiting mechanism (5) 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) increases; S4: the power mechanism (6) pulls the two first external tendon ropes (4-1) in sequence and then pulls the two first external tendon ropes (4-1) simultaneously, releases the first external tendon rope (4-1) and then pulls the second external tendon rope (4-2), and repeats this process multiple times; S5: Repeat steps S3 and S4 according to the assistance and training progress and user feedback until the foot-ankle coordinated assistance and training are completed.

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