Self-service ankle pump exercise equipment and use method

Abstract

The invention relates to the technical field of medical instruments, and discloses self-service ankle pump exercise equipment and a use method, the equipment comprises a universal exercise mechanism, a foot fixing device, a pressure detection module, a driving execution mechanism and a control module. The universal movement mechanism is composed of a universal joint assembly capable of being adjusted in a three-dimensional mode and a three-dimensional guide rail system, and the three-dimensional guide rail system is provided with a programmable movement track. The foot fixing device comprises a half sole supporting plate, an inner side contact plate and two side limiting mechanisms and is in rigid connection with the three-dimensional guide rail system. The pressure detection modules are distributed on the contact face of the foot fixing device and used for detecting foot pressure distribution in real time. The driving execution mechanism drives the feet to move along the programmable track through the servo driving assembly; and the control module generates an individualized movement track according to the pressure data and regulates and controls the driving parameters. The device can adapt to the exercise ability difference of the patient, the training safety and effectiveness are ensured, and the device is suitable for postoperative rehabilitation and joint motion range recovery of long-term bedridden patients.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a self-service ankle pump exercise device and a use method thereof. Background Art

[0002] Traditional ankle pump exercise rehabilitation relies primarily on medical staff guiding patients to actively flex and extend their ankle joints, resulting in low execution rates and poorly standardized movements. Existing ankle pump training equipment often utilizes fixed-angle positioning or simple mechanical transmission structures, making it impossible to dynamically adjust the movement trajectory based on individual patient differences. Furthermore, the lack of real-time monitoring and feedback mechanisms results in inconsistent rehabilitation outcomes. This is particularly true for patients experiencing postoperative pain, insufficient muscle strength, or limited joint mobility. Existing equipment struggles to precisely control the range and direction of movement, potentially leading to secondary injury or insufficient training. Summary of the Invention

[0003] In order to solve the above technical problems, the present invention provides a self-service ankle pump exercise device and a method of use.

[0004] In a first aspect, the present invention provides a self-service ankle pump exercise device, comprising: A universal motion mechanism, comprising a three-dimensionally adjustable universal joint assembly and a three-dimensional guide rail system connected to the universal joint assembly, wherein the three-dimensional guide rail system is provided with a programmable motion track; A foot fixing device, comprising a forefoot support plate, an inner contact plate and two side limiting mechanisms, wherein the foot fixing device is fixedly connected to the three-dimensional guide rail system; A pressure detection module is arranged on the medial contact surface, forefoot support surface and both side limit surfaces of the foot fixing device, and is used to detect the foot contact pressure to determine the individualized motion trajectory; a drive actuator, comprising a servo drive assembly mechanically connected to the three-dimensional guide rail system, the servo drive assembly being used to drive the foot to perform ankle pump motion along the programmable motion track; The control module is electrically connected to the pressure detection module and the driving actuator, and is configured to generate path parameters of the programmable motion track according to an output signal of the pressure detection module.

[0005] Optionally: The universal joint assembly includes an inner sphere, an outer spherical shell and an electromagnetic locking device. The surface of the inner sphere is provided with evenly distributed positioning pits, the outer spherical shell has a built-in retractable spring plunger, and the electromagnetic locking device includes a ball positioning pin that matches the positioning pits.

[0006] Optionally: The three-dimensional guide rail system consists of a horizontal slide rail, a pitch turntable and a side swing bracket. The horizontal slide rail is connected to the pitch turntable through a linear bearing, and the side swing bracket is hinged to the pitch turntable through a parallelogram linkage mechanism.

[0007] In a second aspect, the present invention further provides a method for using a self-service ankle pump exercise device, the method being implemented based on the device according to any one of the first aspects, the method comprising: S1. Acquire the predetermined programmable motion trajectory, where the programmable motion trajectory includes a dorsiflexion-plantar flexion sagittal plane motion path and an ankle joint circumferential motion path; S2. Control the drive actuator to perform periodic ankle pump motion along the programmable motion track, and maintain the motion trajectory of the foot on the three-dimensional guide rail system through the servo drive component.

[0008] Optionally, the method for determining the programmable motion trajectory includes: Execute on first use: S01, monitoring the pressure distribution of the foot contact surface in real time through the pressure detection module; S02. Record multiple trajectory turning points that reach the pressure threshold during the patient's autonomous movement; S03. Generate the programmable motion trajectory including a safety buffer zone according to the trajectory turning point.

[0009] Optionally, the S03 includes: When the dorsiflexion-plantar flexion sagittal plane motion path is selected: According to the medial contact surface pressure reaching a first threshold and the forefoot support surface pressure reaching a second threshold, the dorsiflexion limit position is marked; When the pressure difference between the two limiting surfaces is less than the third threshold, the plantar flexion limit position is marked; Connecting each extreme position with a cubic spline curve to generate a basic linear path, and extending a safety buffer zone outside the linear path; When you select the Ankle Wrap motion path: Mark the turning points of the circumduction trajectory according to the pressure fluctuation cycle of the forefoot support surface; generating a closed circular path based on the turning points of the circular trajectory, and setting an equidistant buffer zone outside the circular path; The angle between the rotational motion plane and the horizontal plane is restricted to not exceed the angle threshold.

[0010] Optionally, step S2 includes: Real-time comparison of pressure data during exercise; When the pressure on the inner contact surface exceeds the first threshold, the pressure on the forefoot support surface exceeds the second threshold, or the pressure difference between the two side limit surfaces exceeds the third threshold, the servo drive assembly is controlled to retreat to the corresponding safety node along the reverse trajectory of the current movement direction.

[0011] Optionally, it also includes: The actual trajectory of each movement is recorded by a mechanical angle pointer, and the deviation data between the actual trajectory and the programmable motion track is stored in a local memory.

[0012] Optionally, it also includes: After completing the preset number of periodic motions, perform orbit parameter update: comparing the degree of agreement between the actual motion trajectory and the programmable motion trajectory; When the number of times that the degree of coincidence exceeds the degree of coincidence threshold is greater than the number threshold, the range of the safety buffer zone is reduced.

[0013] The present invention has the following technical effects: The technical effect of the present invention is achieved through the synergy of multi-dimensional pressure perception and intelligent trajectory control. Based on the real-time monitoring data of the foot contact pressure, the device dynamically generates a programmable motion track that adapts to the patient's joint mobility, and guides the foot along the preset path through the drive mechanism to complete the standardized ankle pump action. During the execution of the movement, the system continuously compares the actual pressure distribution with the track safety range. When an abnormal pressure deviation is detected, the trajectory correction mechanism is immediately triggered, and the movement is reversed to the safety node to avoid joint overload injury. The core advantage of the programmable track lies in its adaptability: the initial movement envelope is defined according to the pressure limit of the patient's first autonomous movement, and the trajectory amplitude is gradually expanded in subsequent training in combination with the progress of rehabilitation, so as to achieve a smooth transition from protective training to full range of motion. At the same time, the system integrates different dimensions of joint activity training on a single device through the multi-modal coordination of sagittal plane flexion and extension and horizontal plane rotation, solving the problems of single movement and poor adaptability of traditional rehabilitation programs, and providing accurate and reliable rehabilitation support for postoperative recovery, thrombosis prevention and joint function reconstruction. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0015] Figure 1 A front view of the structure of a self-service ankle pump exercise device provided by an embodiment of the present invention; Figure 2 A top view of the structure of a self-service ankle pump exercise device provided by an embodiment of the present invention; Figure 3 A schematic structural diagram of a universal joint assembly of a self-service ankle pump exercise device provided by an embodiment of the present invention; Figure 4 A schematic flow chart of a method for using a self-service ankle pump exercise device provided by an embodiment of the present invention; Figure 5 A schematic diagram of a cubic spline curve provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0016] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention are described clearly and completely below. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are also within the scope of protection of the present invention.

[0017] Figure 1 A front view of the structure of a self-service ankle pump exercise device provided by an embodiment of the present invention, Figure 2 A top view of a self-service ankle pump exercise device provided in an embodiment of the present invention, the structure comprising: A universal motion mechanism, comprising a three-dimensionally adjustable universal joint assembly A and a three-dimensional guide rail system B connected to the universal joint assembly A, wherein the three-dimensional guide rail system B is provided with a programmable motion track; The foot fixing device includes a forefoot support plate C1, an inner contact plate C2, and two side limit mechanisms C3. The foot fixing device is fixedly connected to the three-dimensional guide rail system B. Pressure detection module D, arranged on the medial contact surface, forefoot support surface, and both side limit surfaces of the foot fixation device, is used to detect foot contact pressure to determine the individualized motion trajectory; A drive actuator, comprising a servo drive assembly E1 mechanically connected to the three-dimensional guide rail system B, wherein the servo drive assembly E1 is used to drive the foot C to perform ankle pump movement along the programmable motion track; The control module is electrically connected to the pressure detection module D and the driving actuator, and is configured to generate path parameters of the programmable motion track according to the output signal of the pressure detection module D.

[0018] Figure 1In the figure, X represents the horizontal slide direction, Y represents the pitch turntable direction, and H represents the roll support direction. The self-service ankle pump exercise device achieves precise guidance for ankle joint rehabilitation exercises through the coordinated operation of a universal motion mechanism, a foot fixation device, a pressure detection module D, a drive actuator, and a control module. The universal motion mechanism provides multi-directional motion adjustment capabilities within three dimensions. Its core function is to support a complex motion pattern of sagittal plane flexion and extension and horizontal plane rotation through a programmable motion track. The foot fixation device forms a multi-point fixation structure with a forefoot support plate C1, a medial contact plate C2, and two lateral limit mechanisms C3, ensuring a stable fit of the foot C during exercise. Pressure detection modules D are distributed throughout the contact area of the foot fixation device and collect real-time pressure distribution data from various parts of the foot C for dynamic assessment of exercise load and joint status. The drive actuator, based on servo drive technology, drives the foot C along a preset track to complete standardized ankle pump movements. The control module integrates pressure data with kinematic parameters to generate a personalized motion path and regulates the motion amplitude and speed of the drive mechanism in real time.

[0019] After the device is started, the control module first determines the patient's joint movement limits based on the patient's first autonomous movement data, delineates the safe range of movement through dynamic analysis of the pressure threshold, and generates an adaptive dorsiflexion-plantar flexion path or ankle joint circumferential path. During training, the drive mechanism performs periodic movements according to the preset path, and the pressure detection module D continuously monitors changes in foot contact pressure. When abnormal pressure fluctuations are detected, the control module immediately triggers the protection mechanism, suspends movement and retreats to a safe position to avoid joint overload injury. The multi-plane coordination capability of the universal motion mechanism supports seamless switching between different motion modes, such as transitioning from linear flexion and extension in the sagittal plane to a circular trajectory in the horizontal plane, to meet the needs of staged rehabilitation. The multi-point pressure feedback of the foot fixation device, combined with the adaptive adjustment function of the control module, can automatically correct motion trajectory deviations to ensure the standardization and safety of movements.

[0020] This implementation method solves the problem that traditional equipment cannot adapt to individual differences through intelligent pressure feedback and mechanical motion control, improving training efficiency while reducing the risk of secondary injury. It is particularly suitable for postoperative rehabilitation and joint function recovery in long-term bedridden patients.

[0021] Figure 3 A schematic diagram of the universal joint assembly structure of a self-service ankle pump exercise device provided by an embodiment of the present invention. In some embodiments, universal joint assembly A includes an inner sphere A1, an outer spherical shell A2, and an electromagnetic locking device A5. Inner sphere A1 is provided with evenly distributed positioning pits A3, while outer spherical shell A2 incorporates a retractable spring plunger A4. Electromagnetic locking device A5 includes a ball-bearing locating pin A6 that mates with the positioning pits A3.

[0022] The universal joint assembly A realizes three-dimensional motion freedom adjustment through the cooperation of the inner sphere A1 and the outer spherical shell A2. The positioning pit A3 set on the surface of the inner sphere A1 and the spring plunger A4 built into the outer shell form a physical limit point to ensure the reference positioning of the motion trajectory.

[0023] The electromagnetic locking device A5 realizes the dynamic locking function through the matching relationship between the ball positioning pin A6 and the positioning pit A3, and can quickly switch between free movement and fixed state under the command of the control module.

[0024] When the device is in trajectory learning mode, the electromagnetic locking device A5 releases the restraint, and the spring plunger A4 provides a basic damping force, allowing the patient's foot to autonomously explore the limits of motion in multiple directions. After generating a programmable trajectory, the electromagnetic locking device A5 selectively locks non-essential degrees of freedom based on the motion phase, restricting foot movement to the preset trajectory direction and eliminating the risk of abnormal deviation.

[0025] This design, through the synergistic effect of mechanical limiting and electromagnetic control, improves trajectory execution accuracy while ensuring movement flexibility, avoiding the response hysteresis problem of traditional purely mechanical locking mechanisms, and is suitable for progressive rehabilitation training for patients with muscle strength imbalance.

[0026] In some embodiments, the three-dimensional guide rail system B is composed of a horizontal slide rail, a pitch turntable and a side swing bracket. The horizontal slide rail is connected to the pitch turntable through a linear bearing, and the side swing bracket is hinged to the pitch turntable through a parallelogram linkage mechanism.

[0027] The three-dimensional guide rail system B achieves multi-planar motion control through the mechanical linkage of a horizontal rail B1, a pitch turntable B2, and a roll support B3. The horizontal rail B1 is positioned horizontally and forms a low-friction sliding pair with the pitch turntable B2 via a linear bearing B4, supporting the foot's linear anteroposterior displacement in the sagittal plane. The pitch turntable B2 is perpendicularly connected to the horizontal rail B1, with its axis of rotation parallel to the frontal plane, driving dorsiflexion and plantar flexion of the foot. The roll support B3 is articulated to the pitch turntable B2 via a parallelogram linkage B5, ensuring that the foot maintains a parallel position during roll motion, preventing varus or valgus displacement.

[0028] When the device performs sagittal plane motion, the linkage between the horizontal slide B1 and the pitch turntable B2 controls the foot's flexion and extension angles, while the linear bearing B4 eliminates the effects of sliding friction on trajectory accuracy. During ankle circumferential motion, the displacement of the horizontal slide B1, the rotation of the pitch turntable B2, and the swing of the side-swing bracket B3 work together to form a closed circular trajectory. The symmetrical design of the parallelogram linkage B5 ensures that the side-swing bracket B3 maintains horizontal stability throughout the entire motion, preventing trajectory deformation caused by unilateral force. This structure effectively solves the motion interference problem of traditional multi-axis systems by combining rigid transmission with geometric constraints, improving the consistency of execution of complex movements and making it suitable for progressive rehabilitation training for patients with limited joint mobility.

[0029] Figure 4 A flowchart of a method for using a self-service ankle pump exercise device provided in an embodiment of the present invention is provided. The method is implemented based on any one of the above device embodiments, and the method includes: S1. Acquire a predetermined programmable motion trajectory, where the programmable motion trajectory includes a dorsiflexion-plantar flexion sagittal plane motion path and an ankle joint circumferential motion path; S2. Control the drive actuator to perform periodic ankle pump motion along the programmable motion track, and maintain the motion trajectory of the foot on the three-dimensional guide rail system through the servo drive component.

[0030] Programmable motion trajectories are dynamically generated and executed based on individual patient differences. The device collects the patient's ankle joint motion characteristics during the initial trajectory learning phase, generating a personalized trajectory consisting of a sagittal dorsiflexion-plantar flexion motion path and an ankle circumferential motion path. The dorsiflexion-plantar flexion path defines the foot's maximum flexion and extension range in the sagittal plane, forming a linear anteroposterior motion trajectory; the ankle circumferential motion path plans the toe's circular motion trajectory in the horizontal plane, ensuring the continuity and closedness of the circular motion.

[0031] During training, the actuator drives the foot along a pre-set track, while the servo drive assembly synchronously adjusts the horizontal displacement, pitch angle, and lateral swing of the three-dimensional guide rail system. During the dorsiflexion phase, the horizontal rail moves backward and the pitch turntable rotates upward, driving the foot to lift the toes. During the plantar flexion phase, the reverse motion achieves downward pressure. In the ankle joint's circular motion mode, the reciprocating motion of the horizontal rail and the swinging of the lateral swing bracket form a composite trajectory, moving the toes along a circular path at a constant speed.

[0032] The core feature of the programmable track lies in its personalized adaptability: motion paths are independently generated for each patient based on their joint range of motion, ensuring that the range of motion matches their physiological conditions. The control module independently stores multiple sets of motion parameters, enabling switching between training modes at different stages of rehabilitation, such as transitioning from limited-range protective training to full-range-of-motion training. This approach, by combining standardized motion guidance with personalized parameter settings, addresses the rigidity of traditional rehabilitation equipment training models and improves the suitability of training for patients with diverse body types.

[0033] In some embodiments, a method for determining a programmable motion trajectory includes: Execute on first use: S01, monitoring the pressure distribution of the foot contact surface in real time through a pressure detection module; S02. Record multiple trajectory turning points that reach the pressure threshold during the patient's autonomous movement; S03. Generate a programmable motion trajectory including a safety buffer zone according to the trajectory turning point.

[0034] The process of determining the programmable motion trajectory is automatically executed when the device is used for the first time. After the patient puts on the foot fixation device, the system enters trajectory learning mode, and the pressure detection module begins to collect real-time pressure distribution data on each contact surface of the foot. The patient is guided to independently complete several maximum-amplitude ankle pump movements, including dorsiflexion, plantar flexion, and circumduction. The control module simultaneously records the spatial position coordinates when the critical pressure is reached in each direction of movement, forming a discrete set of trajectory turning points.

[0035] Based on the recorded turning points, the system generates programmable motion trajectories through spatial interpolation and safety margin calculation. For the dorsiflexion-plantar flexion path, the system constructs a smooth motion curve between discrete points and extends a buffer zone outside the curve to create a flexible space that allows for slight over-limit movement. For the circumflexion path, a closed circular trajectory is generated based on the phase distribution of the turning points, and equidistant buffer zones are placed outside the loop to prevent loss of control due to toe deviation.

[0036] This method ensures that the range of motion adapts to the patient's individual joint mobility through first-time autonomous exploration and intelligent trajectory generation, avoiding overstretching or insufficient training caused by traditional preset fixed trajectories, and establishing a safe and reliable baseline path for subsequent rehabilitation training.

[0037] Figure 5 A schematic diagram of a cubic spline curve provided in an embodiment of the present invention. In some embodiments, S03 includes: When choosing a dorsiflexion-plantar flexion sagittal plane motion path: According to the medial contact surface pressure reaching a first threshold and the forefoot support surface pressure reaching a second threshold, the dorsiflexion limit position is marked; When the pressure difference between the two limiting surfaces is less than the third threshold, the plantar flexion limit position is marked; A basic linear path is generated by connecting each extreme position with a cubic spline curve, and a safety buffer zone is extended outside the linear path; When you select the Ankle Wrap motion path: Mark the turning points of the circumduction trajectory according to the pressure fluctuation cycle of the forefoot support surface; Generate a closed circular path based on the turning points of the circular trajectory, and set an equidistant buffer zone outside the circular path; The angle between the rotational motion plane and the horizontal plane is restricted to not exceed the angle threshold.

[0038] The generation of the dorsiflexion-plantar flexion sagittal plane motion path is based on the dynamic judgment of the pressure threshold. The system identifies the dorsiflexion limit position by the pressure on the medial contact surface reaching the preset first threshold. At this time, the pressure in the arch area increases significantly, indicating that the foot has reached the maximum dorsiflexion angle; when the pressure on the forefoot support surface reaches the second threshold, the plantar flexion limit position is marked, reflecting the maximum pressure-bearing state of the forefoot area. When the pressure difference between the limit mechanisms on both sides is less than the third threshold, the system determines that the foot is in a stable state in the coronal plane and allows the plantar flexion end point to be marked. The cubic spline curve algorithm connects the dorsiflexion and plantar flexion limit points to form a smooth motion path, and extends a safety buffer zone on the outside of the path to avoid trajectory deviation caused by muscle fatigue or sudden spasms during exercise. Figure 5 A simple cubic spline curve is shown.

[0039] The generation of the ankle joint's circular motion path relies on the periodic variation characteristics of the pressure on the forefoot support surface. When the patient performs voluntary circular rotation, the pressure in the forefoot area fluctuates regularly as the toes draw circles. The system identifies the turning points of the circular rotation trajectory through the phase difference between the pressure peak and the trough. Based on the spatial distribution of discrete turning points, a closed circular path is generated using circular arc interpolation to ensure the continuity of the toe movement and the integrity of the trajectory. The equidistant buffer zone set on the outside of the circular path can accommodate slight shaking of the foot, while limiting the maximum inclination angle of the circular rotation plane and the horizontal plane to prevent abnormal twisting of the ankle joint due to asymmetric force.

[0040] This method uses multi-dimensional correlation analysis of pressure data to achieve accurate determination of motion limits and trajectory optimization, taking into account both movement standardization and individual adaptability, and effectively solving the problems of traditional equipment's single motion trajectory and lack of physiological adaptation.

[0041] In some embodiments, step S2 includes: Real-time comparison of pressure data during exercise; When the pressure on the inner contact surface exceeds the first threshold, the pressure on the forefoot support surface exceeds the second threshold, or the pressure difference between the two side limit surfaces exceeds the third threshold, the servo drive assembly is controlled to retreat to the corresponding safety node along the reverse trajectory of the current movement direction.

[0042] During the exercise phase, the pressure detection module continuously collects real-time pressure data from all contact surfaces of the foot. If any of the following conditions are met: the medial contact surface pressure exceeds the first threshold, the forefoot support surface pressure exceeds the second threshold, or the pressure difference between the two sides exceeds the third threshold, the system determines that there is a risk of joint overload, immediately triggering the protection mechanism and terminating the current exercise process.

[0043] Based on the real-time position information from the 3D guide system, the servo drive assembly retracts at a constant speed in the opposite direction of the current motion trajectory. During the dorsiflexion phase, the movement returns to the previous flexion angle; during the plantar flexion phase, the movement returns to the neutral position; and during the circumduction phase, the movement returns to the starting quadrant of the circular trajectory. During the retraction process, an electromagnetic locking device simultaneously engages to restrict movement in unnecessary degrees of freedom and prevent unintended deviation.

[0044] This method achieves rapid response to abnormal conditions through direct triggering of preset thresholds and reverse motion control of three-dimensional coordinates, eliminates the risk of misjudgment caused by reliance on historical data, and improves the real-time and reliability of emergency protection.

[0045] In some embodiments, further comprising: The actual trajectory of each movement is recorded through a mechanical angle pointer, and the deviation data between the actual trajectory and the programmable motion track is stored in the local memory.

[0046] A mechanical angle pointer is installed at the junction of the pitch turntable and roll support of the 3D guide rail system, linked to the moving parts via a physical transmission mechanism. The pointer's rotation angle directly reflects the foot's real-time position in the sagittal and horizontal planes. At the beginning of each training session, the pointer automatically returns to zero and calibrates, continuously recording the foot's displacement angle in all directions during exercise.

[0047] Actual trajectory data is converted into digital signals via a mechanical encoder and transmitted to the control module for real-time comparison with the preset path of the programmable motion track. Deviation data, including parameters such as angular offset, directional deviation, and phase difference, is formatted and stored in the device's built-in local memory.

[0048] Local storage utilizes non-volatile media to ensure data integrity even after power failures. Stored deviation data can be exported via a standard interface, providing rehabilitation physicians with objective, quantitative evidence for evaluating training effectiveness. This method, through the dual security of mechanical and electronic recording, addresses the data distortion issues associated with purely electronic sensors susceptible to electromagnetic interference, improving the reliability of motion monitoring and making it particularly suitable for tracking progress and optimizing long-term rehabilitation training programs.

[0049] In some embodiments, further comprising: After completing the preset number of periodic motions, perform orbit parameter update: Compare the degree of agreement between the actual motion trajectory and the programmable motion trajectory; When the number of times that the degree of coincidence exceeds the degree of coincidence threshold exceeds the number threshold, the range of the safety buffer zone is reduced.

[0050] After completing a preset number of training cycles, the device automatically initiates a trajectory parameter update. The system then accesses historical motion trajectory data stored in local memory and performs a spatial match analysis between the key turning points of the actual motion trajectory and the preset path of the programmable motion trajectory. The fit is calculated based on the Euclidean distance of the trajectory point set and the consistency of the motion direction. If the fit exceeds a fit threshold for multiple consecutive training cycles (i.e., the number of training cycles exceeds a threshold), the control module determines that the patient's joint mobility has improved and triggers a safety buffer reduction mechanism.

[0051] The safety buffer is reduced by adjusting the path extension of the programmable motion track. For the dorsiflexion-plantar flexion path, the system gradually reduces the width of the buffer zone outside the linear motion envelope, allowing the foot to move closer to its physiological limits. For the circumflexion path, the equidistant buffer zone outside the circular trajectory is proportionally reduced, while maintaining a minimum safety distance to prevent sudden changes in trajectory. After patient confirmation, the reduced trajectory parameters are updated in the database and serve as the baseline path for subsequent training.

[0052] This method achieves a gradual increase in rehabilitation intensity through periodic trajectory optimization, avoiding both injuries caused by premature increase in load and rehabilitation stagnation caused by long-term low-intensity training. It establishes a dynamically adaptive advanced training system for patients, significantly improving rehabilitation efficiency and the quality of joint function recovery.

[0053] In some embodiments, the control module can also determine the movement speed of the three-dimensional guide rail system in real time and establish a speed-pressure correlation model. When performing dorsiflexion movements, the system dynamically adjusts the rotation speed of the pitch turntable according to the rate of change of the pressure on the forefoot support surface: when the pressure increase rate exceeds the preset safety slope, the output power of the drive mechanism is automatically reduced; when the pressure increase rate is lower than the rehabilitation intensity requirement, the movement speed is increased in a step-by-step manner. During circumferential movement, the swing frequency of the side swing bracket is synchronously matched with the periodic fluctuation of the pressure on the forefoot support surface to ensure that the toe circle speed is adapted to the patient's muscle force response ability. This method solves the problem of false triggering caused by rapid movement through closed-loop coupling control of speed and pressure, thereby improving the smoothness and safety of movement execution.

[0054] In some embodiments, during the initialization phase of the device, after the patient's foot is placed on the fixture, the control module drives the servo motor to fine-tune the front and rear position of the forefoot support plate and the opening and closing angle of the medial contact plate. During the adjustment process, the pressure detection module monitors the pressure uniformity of each contact surface of the foot in real time. When unilateral pressure concentration is detected, the adjustment mechanism is automatically moved in the opposite direction until the pressure distribution is balanced. The foot length parameter is calibrated by the relative displacement of the forefoot support plate and the heel limit plate, and the arch height is calculated based on the pressure gradient curve of the medial contact plate. After the adjustment is completed, the system stores the adaptation parameters and binds them to the patient's identity information to achieve fast switching among multiple users. This method improves the compatibility of the fixture with different foot types through the coordination of mechanical adjustment and pressure feedback, thereby ensuring the accuracy of the detection data.

[0055] In some embodiments, during training, the control module collects the time-domain fluctuation characteristics of the foot contact pressure through the pressure detection module and extracts the muscle activation index. When it is detected that the pressure peak periodically decays and the fluctuation frequency decreases, the system determines that it has entered a muscle fatigue state and triggers an intervention strategy: the amplitude of the dorsiflexion-plantar flexion movement decreases by a gradient of 10%, the trajectory radius of the circumflexion movement shrinks to 80% of the original value, and the output torque of the servo drive component is increased by 15% to compensate for the decrease in muscle strength. Fatigue data is displayed in real time on the user interface, prompting the patient to adjust the training intensity or pause to rest. This method prevents compensatory injuries caused by overtraining and optimizes the rehabilitation process through biomechanical feature identification and dynamic parameter adjustment.

[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present invention.

Claims

1. A self-service ankle pump exercise device, characterized in that: include: A universal motion mechanism, comprising a three-dimensionally adjustable universal joint assembly and a three-dimensional guide rail system connected to the universal joint assembly, wherein the three-dimensional guide rail system is provided with a programmable motion track; A foot fixing device, comprising a forefoot support plate, an inner contact plate and two side limiting mechanisms, wherein the foot fixing device is fixedly connected to the three-dimensional guide rail system; A pressure detection module is arranged on the medial contact surface, forefoot support surface and both side limit surfaces of the foot fixing device, and is used to detect the foot contact pressure to determine the individualized motion trajectory; a drive actuator, comprising a servo drive assembly mechanically connected to the three-dimensional guide rail system, the servo drive assembly being used to drive the foot to perform ankle pump motion along the programmable motion track; The control module is electrically connected to the pressure detection module and the driving actuator, and is configured to generate path parameters of the programmable motion track according to an output signal of the pressure detection module.

2. The self-service ankle pump exercise device according to claim 1, characterized in that: The universal joint assembly includes an inner sphere, an outer spherical shell and an electromagnetic locking device. The surface of the inner sphere is provided with evenly distributed positioning pits, the outer spherical shell has a built-in retractable spring plunger, and the electromagnetic locking device includes a ball positioning pin that matches the positioning pits.

3. The self-service ankle pump exercise device according to claim 1, characterized in that: The three-dimensional guide rail system consists of a horizontal slide rail, a pitch turntable and a side swing bracket. The horizontal slide rail is connected to the pitch turntable through a linear bearing, and the side swing bracket is hinged to the pitch turntable through a parallelogram linkage mechanism.

4. A method for using a self-service ankle pump exercise device, characterized in that: The method is implemented based on the device according to any one of claims 1 to 3, and the method includes: S1. Acquire the predetermined programmable motion trajectory, where the programmable motion trajectory includes a dorsiflexion-plantar flexion sagittal plane motion path and an ankle joint circumferential motion path; S2. Control the drive actuator to perform periodic ankle pump motion along the programmable motion track, and maintain the motion trajectory of the foot on the three-dimensional guide rail system through the servo drive component.

5. The method for using the self-service ankle pump exercise device according to claim 4, characterized in that: The method for determining the programmable motion trajectory includes: Execute on first use: S01, monitoring the pressure distribution of the foot contact surface in real time through the pressure detection module; S02. Record multiple trajectory turning points that reach the pressure threshold during the patient's autonomous movement; S03. Generate the programmable motion trajectory including a safety buffer zone according to the trajectory turning point.

6. The method for using the self-service ankle pump exercise device according to claim 5, characterized in that: The S03 includes: When the dorsiflexion-plantar flexion sagittal plane motion path is selected: According to the medial contact surface pressure reaching a first threshold and the forefoot support surface pressure reaching a second threshold, the dorsiflexion limit position is marked; When the pressure difference between the two limiting surfaces is less than the third threshold, the plantar flexion limit position is marked; Connecting each extreme position with a cubic spline curve to generate a basic linear path, and extending a safety buffer zone outside the linear path; When you select the Ankle Wrap motion path: Mark the turning points of the circumduction trajectory according to the pressure fluctuation cycle of the forefoot support surface; generating a closed circular path based on the turning points of the circular trajectory, and setting an equidistant buffer zone outside the circular path; The angle between the rotational motion plane and the horizontal plane is restricted to not exceed the angle threshold.

7. The method for using the self-service ankle pump exercise device according to claim 6, characterized in that: The step S2 comprises: Real-time comparison of pressure data during exercise; When the pressure on the inner contact surface exceeds the first threshold, the pressure on the forefoot support surface exceeds the second threshold, or the pressure difference between the two side limit surfaces exceeds the third threshold, the servo drive assembly is controlled to retreat to the corresponding safety node along the reverse trajectory of the current movement direction.

8. The method for using the self-service ankle pump exercise device according to claim 4, characterized in that: Also includes: The actual trajectory of each movement is recorded by a mechanical angle pointer, and the deviation data between the actual trajectory and the programmable motion track is stored in a local memory.

9. The method for using the self-service ankle pump exercise device according to claim 5, characterized in that: Also includes: After completing the preset number of periodic motions, perform orbit parameter update: comparing the degree of agreement between the actual motion trajectory and the programmable motion trajectory; When the number of times that the degree of coincidence exceeds the degree of coincidence threshold is greater than the number threshold, the range of the safety buffer zone is reduced.

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