A wearable ankle joint functional posture sensing device

Abstract

The application belongs to the technical field of rehabilitation medical equipment, and specifically discloses a wearable ankle joint function state sensing device. The device comprises a shoe body, a sensing module and a control module. The sensing module comprises a connecting accessory and one or more of an angle sensing accessory, a tension sensing accessory, a height sensing accessory and a pressure sensing accessory, and each accessory is detachably connected with the shoe body. The connecting accessory is used for outputting position information. The angle sensing accessory is used for outputting angle information. The tension sensing accessory is used for outputting tension information. The height sensing accessory is used for outputting height information. The pressure sensing accessory is used for outputting pressure information. The control module is used for receiving and processing information from the two sensing modules to generate an ankle joint function state comparison result. The device can synchronously collect data of the affected side foot and the healthy side foot of a patient, so as to provide medical staff with repeatable quantitative evaluation and diagnosis of ankle joint injury.

Description

Technical Field

[0001] This application belongs to the field of rehabilitation medical equipment technology and relates to a wearable foot and ankle joint function situational sensing device. Background Technology

[0002] Foot and ankle joint sports injuries are a widespread and frequent feature of disease, and are the most common type of injury in the musculoskeletal system. The harm of foot and ankle joint sports injuries is long-term and cumulative. Some patients with acute injuries may develop chronic foot and ankle instability, experience recurrent sprains, and may eventually induce traumatic arthritis, or even cause foot deformities and joint degeneration.

[0003] Currently, the rehabilitation system for foot and ankle joint injuries has significant shortcomings, the most prominent being the lack of unified and feasible quantitative standards. In particular, there is a lack of clear data support for phased rehabilitation goals such as range of motion and heel raise ability. Furthermore, there are issues such as limited rehabilitation methods, restricted assessment techniques, and inconsistent diagnostic standards.

[0004] For example, when ankle joint stiffness occurs after an injury, many patients and even some doctors still adhere to the idea that "a hundred days of recovery from a bone or ligament injury requires only rest," thus missing the optimal opportunity for early rehabilitation. By the time stiffness is discovered after the removal of the fixation device, the difficulty and time cost of rehabilitation have often increased. Furthermore, during the rehabilitation of patients with ankle joint stiffness, when restoring ankle joint mobility, most rehabilitation physicians simply use manual manipulation of the ankle or instruct patients to perform plantar flexion and dorsiflexion to press the ankle, lacking clear standards for the recovery period and degree of ankle joint mobility. Moreover, in ankle joint ligament injuries, lateral collateral ligament injuries are extremely common, but their assessment is often insufficient, easily leading to future problems such as joint instability, chronic pain, and even traumatic arthritis. These diagnostic and treatment methods, which heavily rely on subjective experience, make it difficult to achieve accurate, dynamic, and repeatable quantitative assessment of the rehabilitation process after ankle joint injuries, hindering the phased determination of the rehabilitation process and the adjustment of individualized plans, and urgently need improvement. Summary of the Invention

[0005] In response to the deficiencies or improvement needs of existing technologies, this application provides a wearable foot and ankle joint function situational awareness device, which aims to solve the problem of the difficulty in repeatable and quantitative assessment of foot and ankle joint injuries.

[0006] This application provides a wearable foot and ankle joint function situational awareness device, which includes a shoe body, a sensing module and a control module; The shoe body is provided in two parts, one for wearing on the patient's affected foot and the other for the healthy foot, and the sensing module is provided on both shoe bodies; The sensing module includes multiple connecting accessories, and also includes one or more of angle sensing accessories, tension sensing accessories, height sensing accessories and pressure sensing accessories, all of which are detachably connected to the shoe body. The connecting accessory is used to output its location information; the angle sensing accessory is used to sense changes in the angle of the ankle joint and output angle information; the tension sensing accessory is used to sense changes in the tension of the ligaments around the ankle joint and output tension information; the height sensing accessory is used to sense changes in the heel raise height of the ankle joint and output height information; and the pressure sensing accessory is used to sense changes in plantar pressure and output pressure information. The control module is signal-connected to the sensing modules on both shoe bodies, and is used to receive and process information from the sensing modules to generate a comparison result of the ankle joint function status of the affected foot and the healthy foot; the control module is also used to generate angle verification information based on the positional information changes of multiple connecting accessories, and to calibrate the angle information based on the angle verification information, and / or, the control module is also used to generate tension verification information based on the positional information changes of multiple connecting accessories, and to calibrate the tension information based on the tension verification information.

[0007] As a further preferred embodiment, the connecting accessory includes a sensing button, which has a built-in position sensor for spatial positioning.

[0008] As a further preferred embodiment, the sensing button is connected to the shoe body by magnetic attraction, snap-on connection, or adhesive.

[0009] As a further preferred embodiment, the angle sensing accessory is detachably connected to the shoe body via a connecting accessory; and / or, the tension sensing accessory is detachably connected to the shoe body via a connecting accessory.

[0010] As a further preferred embodiment, the angle sensing accessory includes an angle sensing module and three first connecting straps, wherein: The angle sensing module is connected to the lower part of the fibula via a connecting accessory; Three of the first connecting straps are connected around the angle sensing module, and the ends of the three first connecting straps away from the angle sensing module are respectively connected to the heel, forefoot and upper fibula via connecting accessories.

[0011] As a further preferred embodiment, the tension sensing accessory includes a tension sensing module and two second connecting straps, wherein: The tension sensing module is connected to the talus insertion point of the anterior talofibular ligament via a connecting accessory. Two second connecting straps are connected to both ends of the tension sensing module, and the ends of the two second connecting straps away from the tension sensing module are respectively connected to the fibular insertion point of the anterior fibular ligament and the calcaneal insertion point of the calcaneofibular ligament via connecting accessories.

[0012] As a further preferred embodiment, the height sensing accessory includes a height sensing module and a mounting body. The height sensing module is suspended at the heel of the shoe body through the mounting body, and the detection port of the height sensing module is vertically downward.

[0013] As a further preferred embodiment, the upper end of the height sensing module is rotatably connected to the mounting body, the lower end of the height sensing module is provided with a detection port, and the center of gravity of the height sensing module is located at the lower end of the height sensing module.

[0014] As a further preferred embodiment, the pressure-sensing accessory includes a flexible insole, wherein the flexible insole is provided with an array of flexible pressure-sensing elements for sensing pressure.

[0015] As a further preferred embodiment, the shoe body is a sock shoe with an adhesive layer on the inside.

[0016] In summary, compared with the prior art, the technical solutions conceived in this application have the following main technical advantages: 1. This device design, based on the differential activity results of the ankle joints of the affected and healthy feet, allows the healthy side's data to serve as a reference value for the rehabilitation progress of the affected side after synchronous data acquisition. This enables precise quantification of dimensions such as joint range of motion deviation and movement trajectory offset. This bilateral comparison mechanism facilitates a shift in rehabilitation assessment from experience-based judgment to data-driven approaches, providing clinical practice with traceable and quantifiable rehabilitation progress information. 2. In this design, by equipping the shoe with detachable connecting accessories and various sensing accessories, the placement and combination of these accessories can be dynamically adjusted according to the patient's rehabilitation stage. Modular replacement of accessories allows for coverage of the entire rehabilitation cycle on the same shoe, providing a personalized, progressive data acquisition solution. This detachable design enhances the device's adaptability, accommodating patients of different physiques and reducing the cost of repeated clinical procurement. More importantly, the connecting accessories have positional sensing capabilities, enabling real-time monitoring of their spatial coordinates on the shoe and calibrating data from angle sensing accessories, eliminating measurement errors caused by accessory installation issues. For example, if the spatial coordinate information deviates from the angle sensor data by more than a preset range, it indicates accessory displacement or loosening, requiring remeasurement. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of a wearable foot and ankle joint function situational awareness device provided in an embodiment of this application; Figure 2 This is a schematic diagram of a shoe body and connecting accessories provided in an embodiment of this application; Figure 3 This is a structural schematic diagram of the shoe body and tension sensing accessory provided in the embodiments of this application; Figure 4 This is a structural schematic diagram of the shoe body and height sensing accessory provided in the embodiments of this application; Figure 5 This is a structural schematic diagram of the pressure sensing accessory provided in the embodiments of this application.

[0018] In all the accompanying drawings, the same reference numerals are used to denote the same elements or structures, wherein: 1. Shoe body; 2. Connecting accessories; 3. Angle sensing accessories; 3-1. Angle sensing module; 3-2. First connecting strap; 4. Tension sensing accessories; 4-1. Tension sensing module; 4-2. Second connecting strap; 5. Height sensing accessories; 5-1. Height sensing module; 5-2. Mounting body; 6. Pressure sensing accessories. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0020] The following is in conjunction with the appendix Figures 1-5 This application will be described in further detail.

[0021] This application discloses a wearable foot and ankle joint function posture sensing device. (Refer to...) Figures 1-5The wearable foot and ankle joint function status sensing device includes a shoe body 1, a sensing module, and a control module. Two shoe bodies 1 are provided for wearing on the affected and unaffected feet of a patient. Multiple sensing modules are installed on each shoe body 1. Each sensing module includes a connecting accessory 2, and one or more of the following: an angle sensing accessory 3, a tension sensing accessory 4, a height sensing accessory 5, and a pressure sensing accessory 6. Each accessory (i.e., connecting accessory 2, angle sensing accessory 3, tension sensing accessory 4, height sensing accessory 5, and pressure sensing accessory 6) is detachably connected to the shoe body 1, and at least the angle sensing accessory 3 and / or the tension sensing accessory 4 are detachably connected to the shoe body 1 via the connecting accessory 2. The system employs a detachable connection mechanism. Connecting accessory 2 outputs its position information; angle sensing accessory 3 senses changes in the angle of the ankle joint and outputs angle information; tension sensing accessory 4 senses changes in the tension of the ligaments surrounding the ankle joint and outputs tension information; height sensing accessory 5 senses changes in the heel-raising height of the ankle joint and outputs height information; and pressure sensing accessory 6 senses changes in plantar pressure and outputs pressure information. A control module is signal-connected to the two sensing modules to receive and process information from them, generating a comparison of the functional posture of the ankle joint between the affected and healthy feet. Furthermore, the control module generates angle verification information based on changes in the position information of multiple connecting accessories 2 and calibrates the angle information based on the angle verification information; and / or, the control module generates tension verification information based on changes in the position information of multiple connecting accessories 2 and calibrates the tension information based on the tension verification information.

[0022] The principle behind this design is that when a patient has one affected foot and one healthy foot, the ankle joints of the two feet will exhibit differences in movement when performing the same actions. After synchronous data collection, the data from the healthy side can serve as a reference value for the rehabilitation progress of the affected side, thereby accurately quantifying dimensions such as joint range of motion deviation and movement trajectory offset. This bilateral comparison mechanism enables rehabilitation assessment and diagnosis to shift from experience-based judgment to data-driven approaches, providing clinical practice with traceable and quantifiable rehabilitation progress information.

[0023] Based on this principle, this design creatively incorporates a detachable sensing module into the shoe body 1. This allows for dynamic adjustment of the placement and combination of accessories according to the patient's rehabilitation stage. By modularly replacing different accessories, full-cycle coverage, from early passive activity monitoring to later active functional assessment, can be achieved on the same shoe body 1, providing a personalized and progressive data collection solution for the patient's rehabilitation process. This detachable design not only enhances the device's adaptability, enabling it to accommodate patients of various body types, but also significantly reduces the cost of repeated clinical procurement, representing a significant advancement.

[0024] More importantly, the detachable connecting accessory 2 configured on the shoe body 1 has position sensing capabilities, enabling it to monitor its spatial coordinates on the shoe body 1 in real time. The control module performs spatiotemporal alignment of this coordinate information with sensor data such as angle information (based on dual calibration of spatial coordinates and timestamps), calibrating the data of the sensing accessory and eliminating measurement errors caused by accessory installation misalignment or loosening. For example, if the spatial coordinate information of the connecting accessory 2 and the output information of the angle sensing accessory 3 are spatiotemporally offset, and the offset value exceeds a preset range, it indicates that the connecting accessory 2 and the angle sensing accessory 3 have been displaced or loosened, requiring retesting.

[0025] Furthermore, in some embodiments, the shoe body 1 is a cylindrical sock-like shoe with slight elasticity and deformation capability, and an adhesive layer is provided on the inner side of the sock-like shoe. The sock-like shoe adheres to the patient's skin through the adhesive layer to improve the accuracy of data collection. In some preferred embodiments, the upper of the sock-like shoe can be made of woven elastic sock material or medical-grade silicone sock material, etc.

[0026] Furthermore, in some embodiments, the connecting accessory 2 includes a sensing button with a built-in position sensor. The position sensor is used for spatial positioning, capable of acquiring the coordinate changes of the sensing button in three-dimensional space in real time, and the position sensor can output a position signal.

[0027] Preferably, the sensing button and the shoe body 1 can be connected using any feasible existing detachable connection method, such as magnetic connection, snap-on connection, or adhesive. It is understood that when the sensing button uses a magnetic connection, a matching magnetic material needs to be embedded on the inside of the shoe body 1 to ensure a stable attachment. Other detachable connection methods also employ relevant matching structures to ensure connection reliability and wearing comfort. These structures are existing technologies and will not be elaborated upon here.

[0028] Preferably, the sensing button can be installed at any position on the elastic upper of the shoe body 1. In particular, the sensing button can be installed at a specific position on the shoe body 1 corresponding to a specific part of the ankle joint, so as to form a measuring shoe with the other accessories.

[0029] For example, by fixing sensing buttons at the distal fibula (i.e., the lower part of the fibula), the middle fibula, the heel (i.e., the calcaneal insertion point of the calcaneofibular ligament), and the forefoot (preferably the proximal lateral aspect of the fifth phalanx of the forefoot, where proximal refers to the end closer to the heart), a shoe for measuring ankle joint range of motion can be formed and matched with angle sensing accessory 3. As another example, by fixing sensing buttons at the fibular insertion point of the anterior talofibular ligament, the talus insertion point, and the calcaneofibular ligament insertion point, a ligament micro-tension sensing shoe can be formed and matched with tension sensing accessory 4. Simultaneously, the control module can calculate in real time the relative displacement distances of the horizontal and vertical spatial positions between each sensing button, as well as the angular information between multiple sensing buttons, as verification data for the angle sensing accessory. For example, when both feet are wearing shoe 1, three sensing buttons are positioned correspondingly at the fibular insertion point of the anterior talofibular ligament, the talus insertion point, and the calcaneofibular ligament insertion point. During walking, the control module senses the relative positional changes of these three sensing buttons in each ankle to determine the tightness of the ligaments, thereby assessing the difference in joint stability between the two ankles. It is understood that the control principle of the control module is existing technology, which will not be elaborated upon here and is not shown in the diagram.

[0030] Furthermore, such as Figure 2 As shown, in some embodiments, the angle sensing accessory 3 includes an angle sensing module 3-1 and three first connecting straps 3-2. The angle sensing module 3-1 has three detection ends, and the three first connecting straps 3-2 are radially distributed around the angle sensing module 3-1. The inner ends (the ends closer to the angle sensing module 3-1) of the three first connecting straps 3-2 are connected to the three detection ends of the angle sensing module 3-1 respectively, while the outer ends (the ends farther from the angle sensing module 3-1) are connected to the heel, forefoot, and upper fibula respectively via the connecting accessory 2. The angle sensing module 3-1 is used to connect to the lower fibula via the connecting accessory 2. The angle sensing module 3-1 can detect the spatial angle changes of the heel, forefoot, and upper fibula relative to the lower fibula during ankle joint movement. The angle sensing module 3-1 includes, but is not limited to, the use of angle sensors. For example, the angle sensing module 3-1 includes an angle sensor assembly consisting of three angle sensors, each of which provides a detection end. The connection between the first connecting strip 3-2 and the connecting accessory 2 includes, but is not limited to, the use of a magnetic quick-release structure, a snap-lock structure, or a flexible braided knot, etc. The connection scheme between the angle sensing module 3-1 and the connecting accessory 2 is similar.

[0031] Generally speaking, when using the angle sensing accessory 3, it is important to ensure that both feet are wearing the shoe body 1 at the same time. The plantar flexion and dorsiflexion angles of the ankle joint of the healthy foot (i.e., the healthy ankle that has not undergone surgery) are measured, and the flexion and extension angles of the ankle joint of the healthy foot are used as the standard to assess and diagnose whether the flexion and extension angles of the ankle joint of the affected foot meet the standard.

[0032] In this design, the angle sensing accessory 3 can be combined with the shoe body 1 to form an ankle joint angle measuring shoe. After the patient's two feet (affected and unaffected feet) wear the shoe body 1 and move around, the location of the angle sensing module 3-1 is used as the origin, and the outer ends of the three first connecting straps 3-2 at the connecting accessory 2 are used as the target points. These three target points will undergo relative spatial displacement with the movement of the ankle joints (such as plantar flexion, dorsiflexion, and inversion / eversion of the subtalar joint). The angle sensing module 3-1 senses the changes of the three target points relative to the origin in real time and generates angle information. The control module (such as a mobile phone or computer) receives (using wireless communication methods such as Bluetooth) the angle information from both sides and performs comparative analysis, generating a comparison report on the difference in the range of motion of the two sides in real time. Based on this comparison report, medical staff can combine information such as whether the patient has undergone surgery and the surgery time to formulate the standard that the range of motion of the affected side should reach in each time period, and record the number of plantar flexion and dorsiflexion exercises performed by the patient each day through the control module, reminding the patient to exercise on time, etc., to achieve the patient's rehabilitation diagnosis.

[0033] Furthermore, such as Figure 3 As shown, in some embodiments, the tension sensing accessory 4 includes a tension sensing module 4-1 and two second connecting straps 4-2. The two second connecting straps 4-2 are connected to the two detection ends of the tension sensing module 4-1. The ends of the two second connecting straps 4-2 away from the tension sensing module 4-1 are respectively connected via connecting accessories 2 to the fibular insertion point of the anterior talofibular ligament and the calcaneofibular ligament's calcaneofibular insertion point. The two second connecting straps 4-2 can be selected as elastic connecting straps to ensure real-time feedback of ligament tension changes during ankle joint movement. The tension sensing module 4-1 is connected to the talus insertion point of the anterior talofibular ligament via connecting accessories 2 to detect the tension changes between the fibular and talus insertion points of the anterior talofibular ligament, and between the calcaneofibular and talus insertion points of the calcaneofibular ligament, during ankle joint movement. This enables the measurement of tension changes in the anterior talofibular and calcaneofibular ligaments during walking. The tension sensing module 4-1 includes, but is not limited to, the use of a tension sensor.

[0034] Generally speaking, when using the tension sensing accessory 4, it is important to ensure that both feet wear the shoe body 1 at the same time. By conducting rehabilitation training on the patient (such as standing on a bouncy ball), the tension changes of the joints of both feet and ankles during rehabilitation training are measured. The tension difference of the affected foot is assessed by the tension change of the healthy foot, thereby determining whether the mechanical compensation after ligament repair is approaching normal.

[0035] In this design, because the shoe body 1 fits closely to the patient's skin, it achieves the effect of responding to ligament tension through elastic deformation when using the tension-sensing accessory 4. The tension-sensing accessory 4, together with the sensing button and the shoe body 1, forms a micro-tension sensing shoe for the ankle joint ligaments. After the patient wears both feet of this shoe body 1 and performs rehabilitation training (such as instructing the patient to stand on a bouncy ball), the tension-sensing accessory 4 measures the micro-tension changes in both ankle joints. The control module compares the maximum values ​​of the micro-tension changes on both sides to determine the stability of the ligaments on the affected side. Simultaneously, the control module records and integrates the ligament micro-tension data of the patient's healthy and affected feet to form a large dataset for medical personnel reference. In use, medical personnel can use this large dataset, combined with information such as the patient's MRI, anterior drawer test results, whether surgery was performed, and the intraoperative ligament condition, to comprehensively develop new assessment standards for ankle joint ligament injuries.

[0036] Furthermore, such as Figure 4 As shown, in some embodiments, the height-sensing accessory 5 includes a height-sensing module 5-1 and a mounting body 5-2. The mounting body 5-2 is detachably connected to the shoe body 1, and the height-sensing module 5-1 is rotatably connected to the mounting body 5-2. The height-sensing module 5-1 is suspended at the heel of the shoe body 1 via the mounting body 5-2, and the detection port of the height-sensing accessory 5 is freely vertically downward.

[0037] Preferably, the upper end of the height sensing module 5-1 is rotatably connected to the mounting body 5-2, the lower end of the height sensing module 5-1 is provided with a detection port, and the center of gravity of the height sensing module 5-1 is located at the lower end of the height sensing module 5-1.

[0038] In some preferred embodiments, the height sensing module 5-1 is preferably a laser rangefinder. The upper end of the laser rangefinder is rotatably connected to the mounting body 5-2, and the center of gravity of the laser rangefinder is located at the lower end of the laser rangefinder (i.e., the lower laser outlet of the laser rangefinder is the main concentration point of the center of gravity), ensuring that its ranging direction is always vertically downward (i.e., the laser port is perpendicular to the ground). The detachable connection scheme between the mounting body 5-2 and the shoe body 1 includes, but is not limited to, using magnetic attraction, buckles, or adhesives. Of course, in some embodiments, connecting accessories 2 can also be used to detachably connect and fix the mounting body 5-2 and the shoe body 1.

[0039] Generally speaking, when using the height sensing accessory 5, it is important to ensure that both feet wear the shoe body 1 simultaneously. By measuring the heel raise height of the ankle joint of the healthy foot, and using the heel raise height of the healthy foot as the standard, it is possible to assess whether the heel raise height of the ankle joint of the affected foot has reached the standard for symmetrical recovery.

[0040] In this design, the height-sensing accessory 5 can be combined with the shoe body 1 to form a shoe for measuring heel raise height at the ankle joint. After the patient puts on the shoe body 1 and performs heel raises, the height-sensing accessory 5 measures the heel raise height of the healthy ankle joint in real time. The control module receives the heel raise height data from both the healthy and affected sides and generates a data report. Based on the above data report, medical staff can determine the standard that the heel raise height of the affected side should reach in each time period, taking into account information such as whether the patient has undergone surgery and the surgery time, and record the number of heel raises performed by the patient each day to remind the patient to exercise on time.

[0041] Furthermore, such as Figure 5 As shown, in some embodiments, the pressure sensing accessory 6 includes a flexible insole with an array of flexible pressure sensing elements disposed therein for sensing pressure.

[0042] In this design, a flexible insole is placed inside the shoe body 1 to form a foot pressure sensing shoe. When the patient puts on the shoe body 1, the pressure sensing accessory 6 can sense the foot pressure in real time and generate pressure information. The pressure information is transmitted to the control module to realize data collection, so that medical staff can know the distribution of foot pressure in the patient, in order to determine whether the patient's pain is related to foot deformity and abnormal foot pressure distribution.

[0043] Overall, this device can be used for monitoring foot and ankle joint movement injuries (such as tendon, ligament, and cartilage injuries) and pre- and post-operative foot and ankle joint function status perception assessment, as well as for monitoring post-operative rehabilitation of the foot and ankle joints.

[0044] When using this device, the patient wears shoe body 1 on both feet, and the sensing buttons are placed at the fibular insertion point of the anterior talofibular ligament, the talus insertion point, and the calcaneofibular ligament insertion point. The degree of ligament tightness can be determined by the changes in the horizontal and vertical positions of the three sensing buttons on each ankle during walking, thus reflecting the difference in joint stability between the two sides of the foot and ankle. When one or more accessories are attached to shoe body 1, various types of sensing measurements can be performed. For example, angle sensing accessory 3, connected to shoe body 1 via sensing buttons, enables the sensing and measurement of ankle and subtalar joint movements; tension sensing accessory 4, connected to shoe body 1 via sensing buttons, enables the measurement and assessment of the stability of the lateral collateral ligament of the ankle joint; height sensing accessory 5, connected to shoe body 1, enables the measurement and assessment of heel raise height of the ankle joint; and pressure sensing accessory 6, connected to shoe body 1, enables the measurement and assessment of dynamic changes in plantar pressure during gait.

[0045] Furthermore, based on the slight elasticity and deformability of the shoe body 1, it is less likely to restrict the range of motion of the ankle joint during plantar flexion and dorsiflexion. This allows for accurate acquisition of the range of motion of the ankle joint in conjunction with the sensing button and angle sensing accessory 3. At the same time, the tension sensing accessory 4 can detect slight tension changes and capture the maximum value of tension changes. This allows for the detection of large and abnormal tension changes when patients with ankle ligament injuries walk on uneven roads, climb mountains, go downstairs, or stand up during sudden starts and stops on subways and buses, thus determining whether the stability of the ankle joint is abnormal. Through the connection of the height sensing accessory 5 with the shoe body 1, opportunities can be set based on the heel raise height of a normal foot, allowing medical personnel to determine what height the affected foot should reach at 1 month, 2 months, 3 months, and 6 months after surgery. It also allows patients to know what height is considered acceptable during postoperative exercise.

[0046] It's important to understand that the term "and / or" describes a relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. In this article, the symbol " / " indicates that the related objects are in an "or" relationship, such as A / B meaning A or B.

[0047] It should be understood that expressions such as "comprising" and "may include" as 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 "comprising" and / or "having" may be interpreted as indicating a specific characteristic, number, operation, constituent element, component, or combination thereof, but should not be interpreted as excluding the existence or possibility of adding one or more other characteristics, numbers, operations, constituent elements, components, or combinations thereof.

[0048] It should be understood that the terms “center,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “inner,” “outer,” “clockwise,” “counterclockwise,” “axial,” “radial,” and “circumferential” indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0049] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0050] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0051] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A wearable foot and ankle joint function situational awareness device, characterized in that, The device includes a shoe body (1), a sensing module, and a control module; Two shoe bodies (1) are provided, which are respectively used to wear on the patient's affected foot and healthy foot, and the sensing module is provided on both shoe bodies (1); The sensing module includes multiple connecting accessories (2), and also includes one or more of the following: angle sensing accessory (3), tension sensing accessory (4), height sensing accessory (5) and pressure sensing accessory (6), wherein the angle sensing accessory (3), tension sensing accessory (4), height sensing accessory (5) and pressure sensing accessory (6) are all detachably connected to the shoe body (1); Among them, the connecting accessory (2) is used to output the location information of its position; the angle sensing accessory (3) is detachably connected to the shoe body (1) through the connecting accessory (2), and the angle sensing accessory (3) is used to sense the angle change of the ankle joint and can output the angle information; the tension sensing accessory (4) is detachably connected to the shoe body (1) through the connecting accessory (2), and the tension sensing accessory (4) is used to sense the tension change of the ligaments around the ankle joint and can output the tension information; the height sensing accessory (5) is used to sense the change of the heel raise height of the ankle joint and can output the height information; the pressure sensing accessory (6) is used to sense the change of the sole pressure and can output the pressure information. The control module is signal-connected to the sensing module on both shoe bodies (1) and is used to receive and process information from the sensing module to generate a comparison result of the ankle joint function status of the affected foot and the healthy foot; the control module is also used to generate angle verification information based on the position information changes of multiple connecting accessories (2) and to calibrate the angle information based on the angle verification information, and / or, the control module is also used to generate tension verification information based on the position information changes of multiple connecting accessories (2) and to calibrate the tension information based on the tension verification information.

2. The wearable foot and ankle joint function posture sensing device as described in claim 1, characterized in that, The connecting accessory (2) includes a sensing button, which has a built-in position sensor for spatial positioning.

3. The wearable foot and ankle joint function posture sensing device as described in claim 2, characterized in that, The sensing button is connected to the shoe body (1) by magnetic attraction, snap-on connection or adhesive.

4. The wearable foot and ankle joint function posture sensing device as described in claim 2, characterized in that, The angle sensing accessory (3) includes an angle sensing module (3-1) and three first connecting straps (3-2), wherein: The angle sensing module (3-1) is connected to the lower part of the fibula via the connecting accessory (2); Three of the first connecting straps (3-2) are connected around the angle sensing module (3-1), and the ends of the three first connecting straps (3-2) away from the angle sensing module (3-1) are respectively connected to the heel, forefoot and upper fibula via connecting accessories (2).

5. The wearable foot and ankle joint function situational sensing device as described in claim 2, characterized in that, The tension sensing accessory (4) includes a tension sensing module (4-1) and two second connecting straps (4-2), wherein: The tension sensing module (4-1) is connected to the talus insertion point of the anterior talofibular ligament via the connecting fitting (2); Two second connecting straps (4-2) are connected to both ends of the tension sensing module (4-1), and the ends of the two second connecting straps (4-2) away from the tension sensing module (4-1) are respectively connected to the fibular insertion point of the anterior fibular ligament and the calcaneal insertion point of the calcaneofibular ligament via connecting fittings (2).

6. The wearable foot and ankle joint function posture sensing device as described in claim 1, characterized in that, The height sensing accessory (5) includes a height sensing module (5-1) and an installation body (5-2). The height sensing module (5-1) is suspended at the heel of the shoe body (1) through the installation body (5-2), and the detection port of the height sensing module (5-1) is vertically downward.

7. The wearable foot and ankle joint function situational sensing device as described in claim 6, characterized in that, The upper end of the height sensing module (5-1) is rotatably connected to the mounting body (5-2), the lower end of the height sensing module (5-1) is provided with a detection port, and the center of gravity of the height sensing module (5-1) is located at the lower end of the height sensing module (5-1).

8. The wearable foot and ankle joint function posture sensing device as described in claim 1, characterized in that, The pressure sensing accessory (6) includes a flexible insole, which contains an array of flexible pressure sensing elements for sensing pressure.

9. The wearable foot and ankle joint function posture sensing device as described in any one of claims 1-8, characterized in that, The shoe body (1) is a sock shoe, and its inner side is provided with an adhesive layer.

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