Ankle pump exercise training device and training method

Abstract

The present invention provides an ankle pump exercise training device and training method to assist users in completing ankle pump exercises safely and effectively. The device includes: an electromechanical control module, which is used to respond to user needs according to a preset exercise strategy, form an electromechanical control signal sequence, and control the movement of the corresponding action mechanism; an electromechanical action structure, which is used to form an action mechanism that supports the lower limb joints at the ankle, and drive the ankle movement or follow-up ankle movement according to the control signal sequence. By effectively utilizing the degrees of freedom of movement and control dimensions formed by the electromechanical action structure, ankle pump exercises in active mode, passive mode, and follow-up mode are constructed, and an overall hardware architecture and training control process of control-acquisition-feedback are established. It can promote venous return in the lower limbs, prevent deep vein thrombosis in the lower limbs, and enhance lower limb muscle strength and lower limb muscle mass. This can increase physical activity and energy consumption, and improve indicators such as blood pressure, blood sugar, blood lipids, and body fat.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation and health care, and in particular to an ankle pump exercise training device and a training method. Background Art

[0002] Ankle pump exercises involve contracting the lower limb muscles to stimulate ankle joint movement, allowing them to act like a pump, promoting blood and lymphatic circulation in the lower extremities. Ankle pump exercises are crucial for maintaining cardiopulmonary function in bedridden patients, restoring function in patients undergoing lower limb surgery, and preventing cardiovascular risks for sedentary individuals with suboptimal health. They can significantly reduce lower limb swelling and prevent deep vein thrombosis. However, these individuals often lack awareness or the ability to actively perform ankle pump exercises. Indiscriminate exercise can easily lead to injury.

[0003] Existing electromechanical control technology offers versatility, facilitating the development of complex control processes. Typically, a memory stores the program code for the electromechanical control process, which is processed by a processor to generate control signals. These signals then drive the actuators directly or through power amplification. The combination of electromechanical structures and electromechanical control technology can meet the ankle pump motion expectations of the intended user. Developing a mechanical motion structure that can replicate the details of a real ankle pump motion is key to achieving ankle pump motion simulation. Summary of the Invention

[0004] In view of the above problems, an embodiment of the present invention provides an ankle pump exercise training device and training method to assist users in completing ankle pump exercises safely and effectively.

[0005] The ankle pump exercise training device according to an embodiment of the present invention comprises:

[0006] The electromechanical control module is used to respond to user needs according to the preset motion strategy, generate electromechanical control signal sequences, and control the movement of the corresponding motion mechanism;

[0007] The electromechanical motion structure is used to form a motion mechanism at the ankle to support the lower limb joints, and drives the ankle to move or follow the ankle movement according to the control signal sequence.

[0008] In one embodiment of the present invention, the electromechanical control module includes:

[0009] A memory, for storing program codes and control data corresponding to preset motion strategies;

[0010] A processor, used to generate an electromechanical control signal sequence of a preset motion strategy according to user needs and control the corresponding motion mechanism;

[0011] A control panel is used to receive user requirements to form motion strategy selection and parameter configuration data;

[0012] Pressure sensor, used to collect pressure change signals at different parts of the ankle, forming feedback data for adjusting preset exercise strategies;

[0013] The rotary encoder is used to collect the motor output shaft speed signal in the action mechanism to form feedback data for adjusting the preset motion strategy.

[0014] In one embodiment of the present invention, the electromechanical action structure includes:

[0015] Ankle positioning mechanism, used to provide a fixed structure for the ankle, heel and toe;

[0016] a plantar rotation mechanism for forming a controlled rotation support structure at the heel portion of the ankle positioning mechanism;

[0017] The base is used to form a rigid shell for accommodating the electromechanical components and to set a fixed movement track;

[0018] A sole support mechanism, used to form a support structure that moves in a controlled manner along a fixed movement trajectory and cooperates with the sole rotation mechanism;

[0019] The dorsiflexion adjustment mechanism is used to form a support structure for controlling and adjusting the tension of the structure at the toe portion of the ankle positioning mechanism.

[0020] In one embodiment of the present invention, the base includes a support structure, on which a first drive motor accommodating space, a fixed moving track, and an open moving space above the fixed moving track are formed.

[0021] In one embodiment of the present invention, the plantar support mechanism includes a first drive motor and a first matching structure drivingly connected to an output shaft of the first drive motor, and the first drive motor drives the first matching structure to move along a fixed moving track.

[0022] In one embodiment of the present invention, the ankle positioning mechanism includes an ankle fixing structure for fixing a single foot, and a toe portion limited rotation structure is provided in the ankle fixing structure.

[0023] In one embodiment of the present invention, the back extension adjustment mechanism includes a third drive motor and an elastic energy storage component that form a traction connection between them. The third drive motor is fixed to the rotating side of the restricted rotation structure, and the elastic energy storage component is fixed to the relatively fixed side of the restricted rotation structure.

[0024] In one embodiment of the present invention, the sole rotation mechanism includes a second drive motor, a second matching structure transmission-connected to the second drive motor, and a third matching structure fixedly connected to the second drive motor. The second matching structure is fixedly connected to the heel of the ankle fixing structure, and the third matching structure is matched with the first matching structure.

[0025] The ankle pump exercise training method according to an embodiment of the present invention comprises:

[0026] Initialize the follow-up motion mode: all drive motors are powered off, and all action mechanisms follow the autonomous movement of the user's ankle;

[0027] Based on the input requirements, an active motion mode is established: each drive motor is energized, and a control signal sequence is generated according to the preset active motion strategy combined with the input requirements, which drives the corresponding action mechanism to drive the user's ankle to perform forced motion;

[0028] Based on the input requirements, a passive motion mode is established: each drive motor is energized, and according to the user's autonomous motion state, the reverse action and action intensity against the autonomous action are quantified to form a control signal sequence, which drives the corresponding action mechanism to resist the autonomous motion.

[0029] The ankle pump exercise training device according to an embodiment of the present invention comprises:

[0030] A memory, used to store program codes corresponding to the processing steps in the ankle pump exercise training method;

[0031] A processor is configured to execute the program code.

[0032] The ankle pump training device and method of the present invention utilize an electromechanical control structure, effectively utilizing the degrees of freedom and control dimensions created by the electromechanical motion structure, to construct a comprehensive hardware architecture and training control process for ankle pump exercise control in active, passive, and follower modes. This facilitates lower extremity venous return, prevents deep vein thrombosis (DVT), and enhances lower extremity muscle strength and mass. This in turn increases physical activity and energy expenditure, improving blood pressure, blood sugar, blood lipids, and body fat. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 FIG. 1 is a schematic diagram of the structure of an ankle pump exercise training device according to an embodiment of the present invention.

[0034] Figure 2 FIG2 is a side view of a base in the electromechanical action structure of an ankle pump exercise training device according to an embodiment of the present invention.

[0035] Figure 3 Shown is a schematic front cross-sectional view of a base in the electromechanical action structure of an ankle pump exercise training device according to one embodiment of the present invention.

[0036] Figure 4 Shown is a side view schematic cross-sectional view of the electromechanical action structure of an ankle pump exercise training device according to one embodiment of the present invention.

[0037] Figure 5 The figure shows a schematic diagram of the coordinated structure of the ankle positioning mechanism, the plantar rotation mechanism and the dorsiflexion adjustment mechanism in the electromechanical action structure of the ankle pump exercise training device according to one embodiment of the present invention.

[0038] Figure 6 FIG2 is a rear view schematic diagram of the combination of the ankle positioning mechanism and the plantar rotation mechanism in the electromechanical action structure of the ankle pump exercise training device according to one embodiment of the present invention.

[0039] Figure 7 Shown is a flow chart of an ankle pump exercise training method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0040] To make the objectives, technical solutions, and advantages of the present invention more clear and understandable, the present invention is further described below with reference to the accompanying drawings and specific embodiments. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0041] The ankle pump exercise training device according to one embodiment of the present invention is as follows Figure 1 As shown, in Figure 1 Including:

[0042] The electromechanical control module 200 is used to respond to user needs according to a preset motion strategy, generate an electromechanical control signal sequence, and control the movement of the corresponding motion mechanism.

[0043] The electromechanical motion structure 100 is used to form a motion mechanism for supporting the lower limb joint at the ankle, and drives the ankle to move or follows the ankle to move according to the control signal sequence.

[0044] Those skilled in the art will appreciate that the ankle pump exercise includes a variety of motion states, and different motion states have obvious differences in the participating muscle groups, muscle movement intensity, and movement posture. For example, during plantar flexion (pointing the toes), the triceps surae muscles contract and shorten, while the tibialis anterior muscles relax and lengthen; during dorsiflexion (curling the toes), the tibialis anterior muscles contract and shorten, while the triceps surae muscles relax and lengthen. When the muscles contract, blood and lymph are squeezed and flow back, and when the muscles relax, fresh blood is replenished. By simply flexing and extending the ankle in this way, blood circulation in the entire lower limb can be effectively promoted.

[0045] The diversity of simulated motion states is a key evaluation indicator of the effectiveness of the ankle pump exercise training device. The real ankle pump movement can be decomposed into action states including but not limited to ankle rotation, foot stepping, toeing, toe curling, and foot lifting during plantar flexion (pointing toes) and dorsiflexion (pointing toes). Each action state involves the stretching of a group of muscles and tendons. The electromechanical motion structure can form an independent structural technical solution for the diversity of simulated motion. The ankle pump exercise training device of the embodiment of the present invention not only provides an electromechanical motion structure that drives the mechanical structure to simulate the ankle pump motion through an electrical signal, but also combines the existing technology to form a hardware configuration environment for the process of driving the electrical signal to generate data processing. It ensures the realization of specific preset motion strategies and motion effects during the ankle pump motion simulation process.

[0046] like Figure 1 As shown, in one embodiment of the present invention, the electromechanical actuation structure 100 includes the following actuation mechanisms:

[0047] The ankle positioning mechanism 110 is used to provide a fixed structure for the ankle, heel and toe.

[0048] Those skilled in the art will understand that reliable fixed support for the ankle can be obtained by utilizing the foot support structures of existing ice skates, slippers, casual flat shoes or sports equipment such as rowing machines, as well as commonly used binding structures such as shoelaces, Velcro and straps.

[0049] The plantar rotation mechanism 120 is used to form a controlled rotation support structure at the heel portion of the ankle positioning mechanism.

[0050] By using a driving motor and setting a fixed reference of the motor, a fixed connection is formed between the ankle positioning mechanism and the motor output shaft through accessories, so that the ankle positioning mechanism can rotate relative to the fixed reference.

[0051] The base 130 is used to form a rigid shell for accommodating the electromechanical components and to set a fixed movement track.

[0052] A rigid shell provides a fixed motion path for limiting ankle movement. Considering its intended target audience is patients or sedentary individuals with limited physical activity, the motion restriction aims to limit the complex ankle rotation and swing involved in the ankle pump movement to prevent movement risks. The rigid shell also serves as a stable base for fixation.

[0053] The sole support mechanism 140 is used to form a support structure that cooperates with the sole rotation mechanism and moves in a controlled manner along a fixed movement trajectory.

[0054] The controlled movement along the fixed movement trajectory forms a movement support for the plantar rotation mechanism on the basis of the rotation support formed by the plantar rotation mechanism for the ankle positioning mechanism 110, thereby providing an additional movement control dimension for the restricted ankle pump movement.

[0055] By using a driving motor and setting a fixed base of the motor, a fixed connection is formed between the motor output shaft and the sole rotation mechanism through transmission accessories, so that the sole rotation mechanism can be controlled to move along a fixed moving trajectory, so that the ankle positioning mechanism can form relative movement.

[0056] In the embodiment of the present invention, the direction of the ankle positioning mechanism 110 and the rotation direction of the sole rotation mechanism 120 are consistent with the direction of the fixed movement trajectory.

[0057] The ankle pump training device of the present invention uses an electromechanical mechanism to determine a fixed direction of motion during the ankle pump exercise. This mechanism provides two control dimensions, namely rotation and translation. This electromechanical mechanism effectively controls three degrees of freedom, expanding the ankle's flexibility in determining the direction of motion. This device can fully accommodate the varying movement patterns of different users.

[0058] like Figure 1 As shown, in one embodiment of the invention, it also includes:

[0059] The dorsiflexion adjustment mechanism 150 is used to form a support structure for controlling and adjusting the tension of the structure at the toe portion of the ankle positioning mechanism.

[0060] There are many joints in the toe and metatarsal area. When participating in actions such as stepping on the sole of the foot, standing on tiptoe, curling the toes, and lifting the sole of the foot, there are independent movements related to the user's physiological habits of movement, which require targeted coordination of specific structures.

[0061] By using a driving motor and setting a fixed reference of the motor, a traction connection is established between the motor output shaft and the energy storage device, so that the local structural tension of the ankle positioning mechanism can be changed.

[0062] The ankle pump training device of the present invention utilizes a dorsiflexion adjustment mechanism to provide independent degrees of freedom of motion, adapting to the user's individual movement characteristics and improving the user's movement experience. Furthermore, as an additional control dimension, it can further optimize the electromechanical control process in ankle pump motion simulation.

[0063] like Figure 1 As shown, in one embodiment of the present invention, the electromechanical control module 200 includes:

[0064] The memory 210 is used to store program codes and control data corresponding to the preset motion strategies.

[0065] The processor 220 is used to generate an electromechanical control signal sequence of a preset motion strategy according to user needs to control the corresponding motion mechanism.

[0066] The processor may be a DSP (Digital Signal Processor), an FPGA (Field-Programmable Gate Array), an MCU (Microcontroller Unit) system board, an SoC (system on a chip) system board, or a PLC (Programmable Logic Controller) minimum system including I / O.

[0067] The control panel 230 is used to receive user requirements to form exercise strategy selection and parameter configuration data.

[0068] The control panel includes but is not limited to a common keyboard, touch screen or switch button.

[0069] The pressure sensor 240 is used to collect pressure change signals at different parts of the ankle to form feedback data for adjusting the preset exercise strategy.

[0070] Pressure sensors can be set up independently, linearly, or in a matrix configuration based on the pressure-bearing structure of the ankle positioning mechanism, forming a parallel acquisition structure for the same type of signal at different locations, thereby better obtaining feedback on plantar pressure changes.

[0071] The rotary encoder 250 is used to collect the motor output shaft speed signal in the action mechanism to form feedback data for adjusting the preset motion strategy.

[0072] The control signal generates the desired motor speed and power. The real-time speed feedback from the rotary encoder can be used to assess the motor's operating status, thereby informing adjustments to the output power, motion frequency, motion amplitude, or motion angle in the preset motion strategy.

[0073] The ankle pump exercise training device of the embodiment of the present invention forms an electromechanical control structure, effectively utilizes the motion freedom and control dimension formed by the electromechanical motion structure, constructs the ankle pump movement in active mode, passive mode, and follow-up mode to establish an overall hardware architecture of control-acquisition-feedback.

[0074] like Figure 1 As shown, in one embodiment of the present invention, the electromechanical control module includes:

[0075] The universal communication interface 260 is used for data communication with other ankle pump exercise training devices.

[0076] The types of the universal communication interface include but are not limited to a USB interface or a COM interface.

[0077] The wireless communication module 270 is used to establish a wireless communication link with other data terminals.

[0078] The types of wireless communication modules include but are not limited to WIFI or Bluetooth.

[0079] The processor 220 is further configured to control the establishment of the universal communication interface and the wireless communication link and data exchange.

[0080] The processor can use the universal communication interface to form a traditional master-slave communication mode to transmit data, and use the wireless communication module to form a traditional peer-to-peer communication mode to transmit data.

[0081] In the electromechanical action structure of the ankle pump exercise training device according to one embodiment of the present invention, the base is as follows Figure 2 、 Figure 3 Wherein: the base includes a support structure, on which a first drive motor accommodating space, a fixed moving track and an open moving space above the fixed moving track are formed.

[0082] Specific, combined Figure 2 and Figure 3 The base 130 includes a pair of hollow rectangular boxes 131 arranged symmetrically about parallel axes, a rear end plate 132, a bottom end plate 133, and a curved baffle 134. The rear end plate 132 is vertically fixed to the rear ends of the two rectangular boxes 131, and the bottom end plate 133 is horizontally fixed to the bottoms of the two rectangular boxes 131. The adjacent ends of the rear end plate 132 and the bottom end plate form an integral connecting ridge 135. The curved baffle 134 is flattened into a rectangle and is axially fixed perpendicularly to the rectangular boxes 131, with its ends fixed to adjacent side walls of the two rectangular boxes 131. The rear end plates 132 and the bottom end plate on either side of the curved baffle 134 and the integral connecting ridge 135 enclose a horizontal cavity 136. The inner wall of the horizontal cavity disappears from the adjacent side walls of the rectangular boxes 131 within the projection range of the rectangular boxes 131 on both sides, forming horizontal through holes 137 symmetrical to the horizontal cavity 136. The foot support mechanism in the electromechanical action structure of the ankle pump exercise training device according to one embodiment of the present invention is as follows: Figure 3 、 4 As shown. Combined Figure 3 and Figure 4 A fixed movement track is provided axially symmetrically on adjacent side walls between the rectangular boxes 131 and above the horizontal cavity 136. The fixed movement track is a minor arc through hole 141. The arc center of the minor arc through hole 141 is located at the front upper portion of the adjacent side wall, on the side of the arc away from the horizontal cavity 136. The relative hole-wall spacing of the minor arc through hole 141 along the extension direction remains consistent.

[0083] The base configuration of the training device of the present invention ensures stable placement. The overall weight is located close to the integral connecting edge, and the movement trajectory is a minor arc. Even after standing 90 degrees along the integral connecting edge, the device remains stable, making it suitable for both sitting and lying positions.

[0084] In the electromechanical action structure of the ankle pump exercise training device according to one embodiment of the present invention, the plantar support mechanism includes a first drive motor and a first matching structure connected to the output shaft of the first drive motor, and the first matching structure is driven by the first drive motor to move along a fixed moving trajectory.

[0085] Specific, combined Figure 2 and Figure 3 As shown, the sole support mechanism 140 includes two sets, which are respectively arranged in two rectangular boxes 131 in an axisymmetric manner. Figure 3 and Figure 4 The foot support mechanism 140 includes a first drive motor 142, a first transmission gear 143, a second transmission gear 144, a third transmission gear 145, a fourth transmission gear 146, a transmission connecting rod 147, and a timing belt 148. The first drive motor 142 is fixed in the transverse cavity 136, coaxially with the transverse cavity 136. The motor output shaft 142a points toward the adjacent side wall of the rectangular box 131. After extending through the transverse through hole 137 of the transverse cavity 136, the first transmission gear 143 is fixed to the end of the output shaft 142a, rotating with the output shaft 142a. A second transmission gear 144 and a third transmission gear 145 are respectively disposed outside of the inferior arc through hole 141. The fixed central axes of the second and third transmission gears 144 and 145 are rotatably fixed to opposite side walls of the rectangular box 131. The fixed central axis of the fourth transmission gear 146 is located at the arc center of the minor arc through-hole 141. Both ends of the fixed central axis are rotatably fixed to opposite side walls of the rectangular housing 131. The fixed end of the transmission link 147 includes a through-hole, through which the fixed central axis of the fourth transmission gear 146 passes. The fixed end of the transmission link 147 is fixed to the wheel surface (or fixed central axis) of the fourth transmission gear 146. As the fourth transmission gear 146 rotates, the movable end of the transmission link 147 is located within the opposite hole wall in the direction of the minor arc through-hole 141. A timing belt 148 sequentially surrounds the first, second, third, and fourth transmission gears 143, 144, 145, and 146, forming a closed path and maintaining tension. The inner wall of the transmission belt is provided with teeth that mesh with each transmission gear. The fixed central axes of the first, second, third, and fourth transmission gears 143, 144, 145, and 146 are parallel, and their teeth are coplanar.

[0086] like Figure 2 As shown, the system also includes a synchronization link 149, which is adapted to be fixed to the sole rotation mechanism 120 following the transmission link 147. The ends of the synchronization link 149 are respectively fixed to the movable ends of the transmission links 147 of the two sole support mechanisms 140. Synchronization link 149 rotates with the fourth transmission gear 146, and the transmission link 147 drives synchronization link 149 to move within the minor arc through hole 141.

[0087] The synchronous link 149 includes a pair of parallel adapting short rods 149 a , which are vertically fixed to the side walls of the synchronous link 149 , and the adapting short rods 149 a and the conducting link 147 extend in the same direction.

[0088] In practice, the two foot support mechanisms 140 are synchronously controlled. A first drive motor 142 outputs rotational power to a first transmission gear 143, which transmits the driving force to a fourth transmission gear 146 via a synchronous gear belt 148. This drives a transmission link 147 to swing along a trajectory extending from the minor arc through hole 141. The transmission links 147 on either side drive the synchronization link 149 to move within the minor arc through hole 141, providing a predetermined combined motion direction for both x and y degrees of freedom.

[0089] The ankle pump exercise training device of this embodiment utilizes two sets of plantar support mechanisms to provide sufficient controlled power output along the movement trajectory and achieve drive redundancy. The gear ratio of the transmission is utilized to optimize movement speed and accuracy. The ankle support structure can be separated from the main base, achieving user flexibility.

[0090] The ankle positioning mechanism, the plantar rotation mechanism and the dorsiflexion adjustment mechanism are integrated in the electromechanical action structure of the ankle pump exercise training device according to an embodiment of the present invention. Figure 5 The ankle positioning mechanism includes an ankle fixing structure for fixing a single foot, and a toe portion limited rotation structure is provided in the ankle fixing structure.

[0091] Specifically, in Figure 5 In the figure, the ankle positioning mechanism 110 includes a heel support plate 111, a sole support plate 112, and a toe support plate 113. The heel support plate 111 and the sole support plate 112 are fixedly connected by a telescopic structure 114, and the sole support plate 112 and the toe support plate 113 are fixedly connected by a hinge structure 115. A flexible upper 111a covering the heel and ankle is provided at the top rear end of the heel support plate 111. The flexible upper 111a is provided with cooperating buckles, hook and loop fasteners, or laces at both ends to secure the heel and ankle to the top of the heel support plate 111. A flexible upper 113a covering the toes is provided at the top front end of the toe support plate 113 to accommodate and secure the toes between the flexible upper 113a and the toe support plate 113.

[0092] like Figure 5As shown, the telescopic structure 114 includes an adjustment plate 114a fixed to the front end of the heel support plate 111 and an adjustment groove 114b defined at the rear end of the sole support plate 112. The contours of the adjustment plate 114a and the adjustment groove 114b complement each other. Positioning blind holes 114c are equidistantly defined on the bottom surface of the adjustment plate 114a along the extension direction. A positioning pin hole 114d is defined in the adjustment groove 114b at the bottom rear end of the sole support plate 112. A positioning pin 114e is elastically secured to the positioning pin hole 114d. The positioning pin is constrained by an elastic spring and can move in and out of the positioning pin hole 114d. By cooperating and securing the positioning pin 114e with various positioning blind holes 114c, the overall length of the ankle positioning mechanism 110 can be adjusted to suit the user's physiological needs.

[0093] like Figure 5 As shown, the hinge structure 115 is disposed on top of the front end of the sole support plate 112 and the rear end of the toe support plate 113. The front end of the sole support plate 112 and the rear end of the toe support plate 113 are in close contact. The intersection position allows the toe support plate 113 to rotate upward, but because the front end of the sole support plate 112 and the rear end of the toe support plate 113 are in close contact, the toe support plate 113 cannot rotate downward after being flush with the sole support plate 112.

[0094] The ankle pump exercise training device of the present invention provides an adaptive fixation structure for the ankle. It also provides a functional support structure for toe flexibility and physiological function, ensuring the stability and flexibility of all movable joints below the ankle joint.

[0095] In an embodiment of the present invention, the dorsiflexion adjustment mechanism in the electromechanical action structure of the ankle pump exercise training device includes a third drive motor and an elastic energy storage component that form a traction connection between them. The third drive motor is fixed to the rotating side of the restricted rotation structure, and the elastic energy storage component is fixed to the relatively fixed side of the restricted rotation structure.

[0096] Specifically, such as Figure 5As shown, in one embodiment of the present invention, the dorsiflexion adjustment mechanism 150 includes a third drive motor 151, a pair of column springs 152, and a pair of fixing protrusions 153. A motor recess 154 is defined at the front bottom of the toe support plate 113, and the housing of the third drive motor 151 is fixed in the motor recess 154. Output shafts extend from both ends of the third drive motor 151, with the axis of the output shafts perpendicular to the extension direction of the toe support plate 113. Traction wheels 155 are coaxially fixed at each end of the output shafts. Portions of the traction wheels 155 protrude from the bottom of the toe support plate 113, and the circumferential surface of the traction wheels 155 is an arc-shaped surface with the center portion lower than the sides. The pair of fixing protrusions 153 are axially symmetrically fixed to either side of the front bottom of the toe support plate 112. The front end of each column spring 152 is fixed to the wheel surface of the traction wheel 155 on the same side via a low-stretch cable. The rear end of each column spring 152 is fixed to the fixing protrusion 153 on the same side via a low-stretch cable. The low-stretch cable is made of organic materials such as ultra-high molecular weight polyethylene fiber and Aramid fiber. The controlled rotation of the traction wheel 155 by the third drive motor 151 can change the tension of the column spring 152, thereby changing the tension of the muscle group that overcomes the tension of the column spring 152 when the toes are involved in the toe-curling movement.

[0097] The ankle pump training device of this invention utilizes a dorsiflexion adjustment mechanism to achieve targeted training of toe movements during real ankle pump exercises. The adaptive structure for identifying toe behavior ensures the adaptability of the movement strategy during subsequent mode control, effectively improving the quality of ankle pump simulation.

[0098] The ankle positioning mechanism and the sole rotation mechanism in the electromechanical action structure of the ankle pump exercise training device according to one embodiment of the present invention are combined as follows Figure 6 The sole rotation mechanism includes a second drive motor, a second matching structure drivingly connected to the second drive motor, and a third matching structure fixedly connected to the second drive motor. The second matching structure is fixedly connected to the heel portion of the ankle fixing structure, and the third matching structure is matched with the first matching structure.

[0099] Specific, combined Figure 5 and Figure 6In one embodiment of the present invention, the sole rotation mechanism 120 includes a second drive motor 121, a pair of T-shaped fixing plates 122, and an adaptor block 123. The second drive motor 121 is located below and spaced apart from the heel support plate 111. An output shaft extends from both ends of the motor, with the axis of the output shaft perpendicular to the extended axis of the heel support plate 111. The pair of T-shaped fixing plates 122 are axially symmetrically fixed to the end surfaces of the heel support plate 111. The horizontal portions of the T-shaped fixing plates 122 are fixed to the heel support plate 111, and the ends of the vertical portions of the fixing plates 122 are fixed to the output shaft on the same side of the drive motor 121. The T-shaped fixing plates 122 rotate with the output shaft of the second drive motor 121. The adapter block 123 is fixed on the housing of the second drive motor 121 , and two fixed surfaces 123 a with inclined angles are formed on the bottom of the adapter block 123 . Each fixed surface 123 a includes an adapter blind hole 124 that matches the adapter short rod 149 a on the synchronization link 149 .

[0100] In practice, the second drive motor 121 is connected to the synchronizing link 149 of the sole support mechanism via an adaptor block 123, forming a rotational reference for the second drive motor 121. The output shaft of the second drive motor 121 drives the sole rotation mechanism 120 in controlled rotation, thereby causing a change in the force vector applied to the supported foot. Simultaneously, the articulated structure 115 and the dorsiflexion adjustment mechanism 150 cooperate to create a balancing tension on the toe-to-toe support plate 113. The third drive motor 151 of the dorsiflexion adjustment mechanism 150 adjusts the balancing tension and acts on the toes during tiptoeing or toe-curling movements.

[0101] like Figure 5 As shown, in one embodiment of the present invention, an insole 116 is set on the top of the heel support plate 111, the sole support plate 112 and the toe support plate 113 of the ankle positioning mechanism 110, and a pressure sensor 240 is set between the insole 116 and the heel support plate 111, the sole support plate 112 and the toe support plate 113.

[0102] In one embodiment of the present invention, a rotary encoder is provided corresponding to each driving motor for collecting the output shaft rotation speed.

[0103] An ankle pump exercise training method according to an embodiment of the present invention is as follows Figure 7 As shown. Includes:

[0104] S100: Setting the electromechanical action structure.

[0105] The electromechanical action structure may adopt the training device of the above embodiment.

[0106] like Figure 7 As shown, in one embodiment of the present invention, the specific setting process includes:

[0107] S110: Setting a support structure, forming a first drive motor accommodation space, a fixed moving track, and an open moving space above the fixed moving track on the support structure;

[0108] S120: providing a first drive motor and a first matching structure drivingly connected to an output shaft of the first drive motor, and driving the first matching structure to move along a fixed moving track by the first drive motor.

[0109] S130: Setting an ankle fixing structure to fix the single foot, and setting a limited rotation structure of the toe part in the ankle fixing structure.

[0110] S140: Set a second drive motor, a second matching structure transmission-connected to the second drive motor, and a third matching structure fixedly connected to the second drive motor, the second matching structure fixedly connected to the heel of the ankle fixing structure, and the third matching structure matchingly connected to the first matching structure.

[0111] S150: A third drive motor and an elastic energy storage component are provided to form a traction connection therebetween. The third drive motor is fixed to a rotating side of the restricted rotation structure, and the elastic energy storage component is fixed to a relatively fixed side of the restricted rotation structure.

[0112] S200: Initializing the follow-up motion mode: each driving motor is powered off, and each action mechanism follows the autonomous motion of the user's ankle.

[0113] In the training device, the first drive motor can drive the user's ankle to move along a fixed trajectory, the second drive motor can drive the user's ankle to rotate with the heel as the fulcrum during movement, and the third drive motor can drive the user's toes to rotate. When the drive motors are powered off, the motors are in a free-following state, and the plantar support mechanism 140, plantar rotation mechanism 120, and dorsiflexion adjustment mechanism 150 in which each motor is located only serve to flexibly support and fix the user's ankle. The mechanical transmission of the action mechanism follows the autonomous movement of the user's ankle, provided that the range of motion of the action mechanism is met.

[0114] S300: Establishing an active motion mode according to input requirements: Each drive motor is energized, and a control signal sequence is formed according to a preset active motion strategy combined with input requirements, driving the corresponding action mechanism to drive the user's ankle to perform forced motion.

[0115] Input requirements include quantitative requirements obtained through the control panel, including but not limited to quantitative parameters of desired movement, such as movement strategy selection, movement strategy execution duration, and movement intensity. The preset active movement strategy is adjusted using these quantitative parameters to form a control signal sequence. This control signal sequence is used to synchronously control the drive motors, causing the relevant ankle joints to perform the desired movements and driving the muscles and tendons associated with the ankle to perform forced movements.

[0116] S400: Setting a second electromechanical action structure, copying the electromechanical control signal sequence to form a second electromechanical control signal sequence, providing an offset timing parameter for overall action delay in the second electromechanical control signal sequence, and the two electromechanical control signal sequences drive the corresponding action mechanisms to drive the user's ankles to perform forced movements alternately.

[0117] The two electromechanical motion structures can form a communication link and data transmission through a built-in universal communication interface to achieve data replication. By offsetting the timing parameters, a predictable difference in movement is created between the two electromechanical control signal sequences, enabling alternating forced movement of the user's ankles.

[0118] S500: Establish a passive motion mode based on input requirements: each drive motor is energized, and based on the user's autonomous motion state, the reverse motion and motion intensity to resist the autonomous motion are quantified to form a control signal sequence, and the corresponding motion mechanism is driven to resist the autonomous motion.

[0119] Input requirements include quantitative requirements obtained through the control panel, including but not limited to quantitative parameters of movement expectations such as movement action selection, execution time of the corresponding movement strategy, and movement intensity. The preset passive movement strategy is a special training control process for determining the movement in the ankle pump movement, and a control signal sequence is formed after adjusting the quantitative parameters. The control signal sequence is used to synchronously control each drive motor in the special training, and to form an antagonistic motor power controlled output according to the movement state during the user's movement process, so that the user's movement resistance is increased, forcing the muscles and tendons associated with the movement to enhance movement.

[0120] The ankle pump training method of the present invention fully utilizes the mechanical characteristics of each actuator within the electromechanical motion structure, creating different motion modes based on the intended ankle pump scenario. The follow-up motion mode utilizes motor power-off to accommodate the user's voluntary movements. This constrained ankle pump motion reduces injuries and meets the user's basic exercise needs within a confined space. The active motion mode systematically controls the output power of the drive motor to force the user's lower limbs to perform desired movements, actively promoting blood circulation in muscles, tendons, deep vessels, and basal metabolism, thereby overcoming the potential risks of prolonged sitting or lying. The passive motion mode controls the drive motor's output power to increase the difficulty of the movement based on the user's subjective desire. By gradually increasing the intensity of the antagonistic movement, it promotes functional growth in specific ankle joints and muscle groups, meeting the health and rehabilitation needs of patients or high-risk individuals. This mode promotes venous return in the lower limbs, prevents deep vein thrombosis (DVT), and enhances lower limb strength and muscle mass. This, in turn, increases physical activity and energy expenditure, improving blood pressure, blood sugar, blood lipids, and body fat.

[0121] like Figure 7 As shown, in one embodiment of the present invention, the active mode includes:

[0122] S310: Obtain the user's posture; the user is in a sitting or lying posture. Posture changes will have a trend impact on the sensor signal acquisition threshold, the pressure jump position of the structure, and the user's tolerance, which needs to be quantified as control weight data.

[0123] S320: Quantify the initial output power level of each drive motor according to the user's posture; direct control weight data is reflected in the initial output power level of each drive motor, for example, the initial output power of the first drive motor when the user is lying down is 70% of that when the user is sitting up, the initial output power of the second drive motor when the user is lying down is 50% greater in the forward direction than in the reverse direction, and the initial output power of the third drive motor when the user is lying down is reduced by 50%.

[0124] S330: Determine an active motion strategy set according to the interactive input; obtain a necessary, formatted input set of single action selection, continuous action selection, and action adjustment data through the interactive input.

[0125] S340: quantify the control parameters of each active motion strategy in the active motion strategy set according to the interactive input; the action adjustment data in the input set includes but is not limited to action duration, action intensity and action frequency, etc., and the standard action parameters corresponding to the active motion strategy are corrected by the action adjustment data to form corrected action parameters.

[0126] S350: Initialize the movement starting position and rotation starting position of the heel and the initial tension of the toe according to the control parameters and the initial output power level; set the initial state according to the correction action parameters, the initial output power level and the first movement action and keep it fixed.

[0127] S360: forming an electromechanical control signal sequence of the active motion strategy set according to the control parameters and caching the sequence; converting the actions in the active motion strategy set into a control signal sequence corresponding to the corrected action parameters, thereby achieving motion process caching.

[0128] S370: Enable each drive motor to generate ankle pump motion, enable power supply operation, and form a time-sequenced motion process.

[0129] like Figure 7 As shown, in one embodiment of the present invention, the passive mode includes:

[0130] S510: Acquire user posture; user posture will form control weight data.

[0131] S520: Obtaining the resistance strength input by the user;

[0132] S530: Collect the instantaneous rotation speed of the driving motor in each action mechanism; the rotation speed includes rate and direction, which is obtained by rotating the encoder.

[0133] S540: Collect pressure change data within the pressure area to form a force vector distribution trend of the instantaneous pressure in each area within the pressure area; obtained through the deployed pressure sensors.

[0134] S550: Forming an instantaneous force synthesis vector in the motor driving direction of each driving motor according to the force vector distribution trend; the motor driving direction is usually in the forward direction or the reverse direction.

[0135] S560: Generating a passive power state corresponding to each drive motor according to the instantaneous rotation speed and the instantaneous force synthesis vector; that is, an equivalent power generated by the pressure applied by the user corresponding to each drive motor.

[0136] S570: forming a resistance power of each driving motor to overcome the passive power state of each driving motor, adjusting the power output in real time according to the resistance intensity and the user's posture, and resisting autonomous movement.

[0137] The active exercise strategy in the ankle pump exercise training method according to one embodiment of the present invention is exemplified in the following table:

[0138]

[0139] An ankle pump exercise training device according to an embodiment of the present invention comprises:

[0140] A memory, used to store program codes corresponding to the processing steps of the ankle pump exercise training method in the above embodiment;

[0141] The processor is used to execute the program code corresponding to the processing process in the ankle pump exercise training method of the above embodiment.

[0142] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. An ankle pump exercise training device, characterized in that: include: The electromechanical control module is used to respond to user needs according to the preset motion strategy, generate electromechanical control signal sequences, and control the movement of the corresponding motion mechanism; The electromechanical motion structure is used to form a motion mechanism at the ankle to support the lower limb joint, and drives the ankle to move or follow the ankle movement according to the control signal sequence. The electromechanical motion structure includes: A sole support mechanism, used to form a support structure that moves in a controlled manner along a fixed movement trajectory and cooperates with the sole rotation mechanism; a plantar rotation mechanism for forming a controlled rotation support structure at the heel portion of the ankle positioning mechanism; The foot support mechanism includes a first drive motor and a first matching structure connected to the output shaft of the first drive motor, and the first matching structure is driven by the first drive motor to move along a fixed moving track; the first matching structure includes a transmission link, and a synchronization link is further included between the two sets of axially symmetrical foot support mechanisms, which is used to adapt and fix the follow-up transmission link to the foot rotation mechanism, and the two ends of the synchronization link are respectively fixed to the moving ends of the transmission links of the two sets of foot support mechanisms; the transmission link drives the synchronization link to move; the synchronization link includes a pair of parallel adaptation short rods, which are vertically fixed to the side walls of the synchronization link, and the adaptation short rods and the transmission link extend in the same direction; The sole rotation mechanism includes a second drive motor, a second matching structure connected to the second drive motor, and a third matching structure fixedly connected to the second drive motor. The second matching structure is fixedly connected to the heel of the ankle fixing structure, and the third matching structure is matched with the first matching structure. The plantar rotation mechanism includes a second drive motor, a pair of T-shaped fixing plates and an adapter block. The second drive motor is located below the heel support plate and is spaced apart from the heel support plate. The output shaft extends from both ends of the motor, and the axis of the output shaft is perpendicular to the extended axis of the heel support plate; a pair of T-shaped fixing plates are axially symmetrically fixed on the end faces of both sides of the heel support plate, the horizontal part of the T-shaped fixing plate is fixed on the heel support plate, and the end of the vertical part of the fixing plate is fixed on the output shaft on the same side of the drive motor, and the T-shaped fixing plate rotates with the output shaft of the second drive motor; the adapter block is fixed on the housing of the second drive motor, and two fixed surfaces with inclined angles are formed at the bottom of the adapter block, and each fixed surface includes an adapter blind hole that matches the adapter short rod on the synchronous connecting rod.

2. The ankle pump exercise training device according to claim 1, characterized in that: The electromechanical control module includes: A memory, for storing program codes and control data corresponding to preset motion strategies; A processor, used to generate an electromechanical control signal sequence of a preset motion strategy according to user needs and control the corresponding motion mechanism; A control panel is used to receive user requirements to form motion strategy selection and parameter configuration data; Pressure sensor, used to collect pressure change signals at different parts of the ankle, forming feedback data for adjusting preset exercise strategies; The rotary encoder is used to collect the motor output shaft speed signal in the action mechanism to form feedback data for adjusting the preset motion strategy.

3. The ankle pump exercise training device according to claim 1, characterized in that: The electromechanical action structure further comprises: Ankle positioning mechanism, used to provide a fixed structure for the ankle, heel and toe; The base is used to form a rigid shell for accommodating the electromechanical components and to set a fixed movement track; The dorsiflexion adjustment mechanism is used to form a support structure for controlling and adjusting the tension of the structure at the toe portion of the ankle positioning mechanism.

4. The ankle pump exercise training device according to claim 3, characterized in that: The base includes a supporting structure, on which a first driving motor accommodating space, a fixed moving track, and an open moving space above the fixed moving track are formed.

5. The ankle pump exercise training device according to claim 3, characterized in that: The ankle positioning mechanism comprises an ankle fixing structure for fixing a single foot, and a toe portion limited rotation structure is arranged in the ankle fixing structure.

6. The ankle pump exercise training device according to claim 3, characterized in that: The back extension adjustment mechanism includes a third drive motor and an elastic energy storage component that form a traction connection between them. The third drive motor is fixed to the rotating side of the limited rotation structure, and the elastic energy storage component is fixed to the fixed side of the relatively rotating side of the limited rotation structure.

Images