Fishbone Soft Foot Support Plate and Fishbone Soft Ankle Exoskeleton

Abstract

A fishbone soft foot support plate and its fishbone soft ankle exoskeleton are disclosed. The fishbone-shaped curve in the middle of the fishbone soft foot support plate is designed to conform to the main load-bearing area when the human foot contacts the ground. This area is located slightly behind the big toe, curving outwards and then extending to the middle of the heel. The fishbone-shaped support serves as the main load-bearing support. The other parts of the plate are made of flexible materials. This allows hemiplegic patients to receive feedback from the uneven shape of the ground when training to walk, in addition to the area in contact with the fishbone, other parts of the foot can receive feedback from the uneven ground shape. This provides external force stimulation to other parts of the foot, establishing different neural feedback training for different ground conditions when landing. Thus, during landing training, not only is the form of walking movement trained, but also the internal nervous system, which is a form of training that combines form and spirit.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation training equipment for the lower limbs, and in particular to a fishbone soft foot support plate and its fishbone soft ankle exoskeleton. Background Technology

[0002] Hemiplegic patients often experience foot inversion and foot drop due to neurological damage. Rehabilitation training specifically addresses these foot problems through targeted correction and training. This involves two methods: firstly, foot fixation via bandaging to correct the inversion or drop posture; and secondly, external drive to lift the foot, simulating walking movements. After a period of bed rest and no-load training, patients need to be trained to walk on the ground. Current assistive walking technologies mostly utilize exoskeletons, using motors or telescopic components to lift the foot. The foot components are typically rigid, isolating the sole from the ground's tactile feedback. This results in a mere simulation of movement without addressing neurological feedback, leading to a lack of tactile feedback and ultimately, a training method that lacks the essential qualities of a normal person. Improvements are needed to provide an ankle joint training device with tactile feedback, enabling training that integrates both movement and tactile feedback, thus achieving a more realistic and natural walking experience. Summary of the Invention

[0003] The purpose of this invention is to solve the above-mentioned problems and provide a fishbone soft foot support plate and a fishbone soft ankle exoskeleton thereof.

[0004] The technical solution of the present invention is: a fishbone soft foot support plate, comprising a heel guard and a bottom pad, characterized in that: the front opening of the heel guard is U-shaped, the bottom pad comprises an integrally formed front foot area and a rear heel area, the lower edge of the heel guard is fixedly connected to the edge of the heel area, and a binding strap is provided at the opening of the heel guard for binding and fixing to the ankle; the bottom pad is made of flexible material, and a fishbone-shaped inner support skeleton is embedded inside the bottom pad, the inner support skeleton includes a central main spine and several ribs extending laterally on both sides, the main spine is banana-shaped and curved, and the inner support skeleton is made of rigid material.

[0005] Preferably, the anterior segment of the main spine is located in the thumb root region of the bottom pad, and the anterior segment of the main spine curves inward. The posterior segment of the main spine extends backward in a straight line to the center of the heel region. The overall shape of the main spine coincides with the area where the foot contacts the ground and experiences the greatest pressure when walking, thus bearing the weight of the person. The ribs serve to better connect the internal support frame with the external flexible material, preventing misalignment or separation between the main spine and the flexible bottom pad due to simple walking movements. This allows the internal support frame and the bottom pad to integrate better.

[0006] Preferably, the supporting frame is in the shape of a flat plate, with the width of the main spine being d1, where 1 cm ≤ d1 ≤ 3 cm; and the width of the ribs being d2, where 0.3 cm ≤ d2 ≤ 1 cm.

[0007] Preferably, the foot pad contains a plurality of pressure sensors, which are evenly arranged along the central axis of the main spine, and the wires of the pressure sensors are arranged through the surface of the heel guard. The pressure sensors are used to test the force on various parts of the foot when they hit the ground.

[0008] A fishbone soft ankle exoskeleton, comprising the aforementioned fishbone soft foot support plate, leg mounting mechanism, and drive mechanism, is characterized by:

[0009] The leg mounting mechanism includes an arc-shaped leg wrapping plate with an opening facing forward. The front edge of the leg wrapping plate is provided with a binding strap. The device can be installed on the leg of the person to be trained by means of the wrapping plate and the binding strap. The lower ends of the two front edges of the wrapping plate are provided with downwardly extending connecting ears. The lower ends of the connecting ears are connected to the front of the upper edge of the heel guard ring through a pivot. The rear of the heel guard ring corresponds to the rear of the wrapping plate.

[0010] The drive mechanism includes a telescopic drive mechanism with its two ends connected to the rear of the heel guard and the rear of the wrapping plate, respectively.

[0011] Preferably, the telescopic drive mechanism is an electric push rod.

[0012] Preferably, the rear of both the wrapping plate and the heel guard ring is provided with a connecting seat for the drive mechanism. The connecting seat includes two L-shaped slots arranged opposite each other along the length direction of the telescopic drive mechanism and a U-shaped support installed in the slots. A card plate with protruding ends is provided on the back of the U-shaped support. The length of the card plate matches the corresponding slot distance inside the L-shaped slot. The free end of the U-shaped support is provided with a hinge hole. The end of the telescopic drive mechanism is connected to the hinge hole through a hinge shaft.

[0013] Preferably, the device also includes a controller and a battery, wherein the pressure sensor is connected to the controller via a wire, the electric push rod is connected to the controller via a wire, and the battery is connected to the controller via a wire.

[0014] The beneficial effects of this invention are as follows: The fishbone soft foot support plate and its fishbone soft ankle exoskeleton of this invention, wherein the arc-shaped bend of the fishbone in the middle of the fishbone soft foot support plate is designed to conform to the main load-bearing area when the sole of the foot contacts the ground, which is located at the back of the big toe, bending slightly outwards towards the outside of the foot, and then extending to the middle of the heel. The fishbone-shaped support serves as the main load-bearing support, while other parts of the plate are made of flexible materials. In this way, when hemiplegic patients are training to walk, in addition to the part that contacts the fishbone, other parts can receive feedback from the uneven shape of the ground, providing external force stimulation to other parts of the sole of the foot. This establishes training for different neural feedback when the ground conditions are different during landing. Thus, during landing training, not only is the form of walking movement trained, but also the internal nervous system, which is a training that combines form and spirit.

[0015] The pressure sensor located on the spine of the fishbone is used to measure the changes in pressure between the front and back of the bearing area. This allows us to obtain different foot landing conditions during training for different trainees, providing quantifiable reference data for later training plan development. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the main structure of the fishbone soft foot support plate;

[0017] Figure 2 for Figure 1 A schematic diagram of the AA cross-sectional structure;

[0018] Figure 3 for Figure 1 A schematic diagram of the three-dimensional structure;

[0019] Figure 4 for Figure 1 One of the three-dimensional structural diagrams of the internal support skeleton in the image;

[0020] Figure 5 for Figure 1 The second schematic diagram of the three-dimensional structure of the internal support skeleton;

[0021] Figure 6 This is a schematic diagram of the main view of the fishbone soft ankle exoskeleton.

[0022] Figure 7 This is one of the schematic diagrams of the three-dimensional structure of the fishbone soft ankle exoskeleton;

[0023] Figure 8 A three-dimensional structural diagram of the leg wrapping plate in the fishbone soft ankle exoskeleton;

[0024] Figure 9 A three-dimensional structural diagram of the connector in the fishbone soft ankle exoskeleton;

[0025] In the diagram: 1. Pad, 2. Heel support ring, 21. Connecting seat, 3. Strapping strap, 11. Main spine, 12. Rib, 13. Pressure sensor, 4. Connecting ear plate, 41. Rotary shaft, 5. Wrapping plate, 51. Strapping strap, 52. Connecting seat, 6. Electric push rod, 7. U-shaped support, 71. Clip, 72. Hinge hole, 73. Hinge shaft, 8. Controller, 9. Battery. Detailed Implementation

[0026] The following description, in conjunction with the accompanying drawings, details the implementation methods and usage of this invention.

[0027] Example 1: See Figure 1-4 The image shows a fishbone-shaped soft foot support plate, comprising a heel guard and a bottom pad. The heel guard has a U-shaped opening at the front, and the bottom pad comprises an integrally formed forefoot area and a heel area. The lower edge of the heel guard is fixedly connected to the edge of the heel area. A strap is provided at the opening of the heel guard. The bottom pad is made of a flexible material, specifically rubber, silicone, or foamed plastic; any soft shoe sole material currently available can be used. A fishbone-shaped internal support skeleton is embedded inside the bottom pad. The internal support skeleton includes a central main spine and several ribs extending laterally on both sides. The main spine is banana-shaped and curved. The internal support frame serves as the main support area when the patient's foot touches the ground. Other areas are made of flexible material pads that transmit the tactile sensation of the unevenness of the ground to other parts of the foot after contact with the ground. The shape of the main spine and ribs of the internal support frame is designed to ensure the coverage area of ​​the support area while maximizing the tactile feedback of the uneven ground. The arrangement of the ribs enhances the coverage of the support frame, and the ribs also transmit the tactile sensation of the uneven ground to the patient's foot.

[0028] The anterior segment of the main spine is located at the base of the big toe on the bottom pad. This anterior segment curves inwards, while the posterior segment extends backward in a straight line to the center of the heel area. The curved shape closely resembles the main weight-bearing and pressure-bearing areas of the human foot. The supporting framework is flat and plate-like. The width of the main spine is d1, where 1 cm ≤ d1 ≤ 3 cm; the width of the ribs is d2, where 0.3 cm ≤ d2 ≤ 1 cm; and d1 > d2.

[0029] Example 2: See Figure 1-35. Example 2 is basically the same as Example 1, and the similarities will not be repeated. The difference is that the foot pad in Example 2 is equipped with several pressure sensors, which are evenly arranged along the central line of the main spine. The wires of the pressure sensors are arranged through the surface of the heel guard. These pressure sensors are used to measure the sequence of impact of different areas of the patient's foot and the main force-bearing parts after impact. This can further train the mechanism and provide data support, making the ankle joint rehabilitation training process more scientific.

[0030] Example 3: See Figure 1-9 The figure shows a fishbone soft ankle exoskeleton, including any of the fishbone soft foot support plates, leg mounting mechanisms, and drive mechanisms described in the technical solutions.

[0031] The leg mounting mechanism includes an arc-shaped leg wrapping plate with an opening facing forward. The front edge of the leg wrapping plate is provided with a binding strap. The lower ends of the two front edges of the wrapping plate are provided with downwardly extending connecting ear plates. The lower ends of the connecting ear plates are connected to the front of the upper edge of the heel guard ring through a pivot. The rear of the heel guard ring corresponds to the rear of the wrapping plate.

[0032] The drive mechanism includes a telescopic drive mechanism with its two ends connected to the rear of the heel guard and the rear of the wrapping plate, respectively.

[0033] The telescopic drive mechanism is an electric push rod.

[0034] The rear of both the wrapping plate and the heel guard ring is provided with a connecting seat for the drive mechanism. The connecting seat includes two L-shaped slots arranged opposite each other along the length of the telescopic drive mechanism and a U-shaped support installed in the slots. The back of the U-shaped support is provided with a plate with protruding ends. The length of the plate matches the corresponding slot distance inside the L-shaped slot. The free end of the U-shaped support is provided with a hinge hole. The end of the telescopic drive mechanism is connected to the hinge hole through a hinge shaft.

[0035] The device also includes a controller and a battery. The pressure sensor is connected to the controller via a wire, the electric push rod is connected to the controller via a wire, and the battery is connected to the controller via a wire.

[0036] The working process of this fishbone soft ankle exoskeleton

[0037] This training device is mainly used for training in walking on the ground. It is generally used after a period of bed rest training, once the hemiplegic patient has gained some lower limb mobility.

[0038] 1) Assemble the training device

[0039] Based on the size of the hemiplegic patient's foot during bag training, select a fishbone soft foot support plate of appropriate size, and connect and assemble the fishbone soft foot support plate through a connecting seat and a telescopic drive mechanism.

[0040] 2) Apply the training device to the patient.

[0041] The leg wrapping plate of the trainer is installed from the back of the patient's calf. The patient's heel is placed inside the heel protection ring. The foot part is fixed to the bottom pad with a strap. The ankle joint is basically aligned with the pivot. The calf is fixed to the leg wrapping plate with a strap. After binding, it has the effect of correcting the patient's foot inversion and foot drop.

[0042] 3) Passive walking training

[0043] The controller controls the extension and retraction of the electric push rod, allowing the patient's affected foot to follow the other normal leg in walking training. At this time, the flexible material area of ​​the bottom pad will stimulate the sole of the foot through touch, combining the ground conditions seen by the patient's eyes, to carry out the coordinated training of foot tactile and visual sensations, as well as the coordination training between foot tactile sensation and the foot walking movement process.

[0044] 4) Active walking training

[0045] After a period of passive walking training, once the patient's walking ability improves, the telescopic drive device can be removed, reducing the weight of the training device. The training device is then used solely as a corrective training device for foot inversion and foot drop with an movable ankle joint.

[0046] The foot pad in Example 3 can be equipped with the pressure sensor from Example 2. This allows the patient's foot landing process and pressure distribution to be obtained in the early stages of passive training. Based on this data, a passive training program can be developed for the patient, and the effectiveness of the targeted training program can be verified.

[0047] Data obtained from different patients and corresponding passive training programs can be used to form a database, laying the data foundation for later big data and artificial intelligence analysis.

Claims

1. A fishbone soft ankle exoskeleton, comprising a leg mounting mechanism, a driving mechanism, characterized in that: it further comprises a fishbone soft foot bottom support plate, the fishbone soft foot bottom support plate comprises a heel enclosure and a bottom pad, the heel enclosure is provided with a U-shaped opening at the front part, the bottom pad is integrally formed with a front metatarsal region and a rear heel region, the lower edge of the heel enclosure is fixedly connected with the edge of the heel region, the opening of the heel enclosure is provided with a binding belt, the bottom pad is made of flexible material, and a fishbone-shaped internal support framework is embedded in the inside of the bottom pad, the internal support framework comprises a middle main spine and a plurality of ribs extending laterally on both sides, and the main spine is in a banana-shaped curved shape. The leg mounting mechanism comprises an arc-shaped leg wrapping plate with an opening facing forward, the front edge of the leg wrapping plate is provided with a binding belt, and the two front edges of the wrapping plate are provided with downwardly extending connecting ear plates at the lower ends, the lower ends of the connecting ear plates are connected with the front part of the upper edge of the heel enclosure through a rotating shaft, and the rear part of the heel enclosure corresponds to the rear part of the wrapping plate. The driving mechanism comprises a telescopic driving mechanism connected at the rear part of the heel enclosure and the rear part of the wrapping plate. The front part of the main spine is located at the big toe root region of the bottom pad, the front part of the main spine is curved inward, and the rear part of the main spine extends to the center of the heel region in an inclined straight line direction.

2. The fishbone soft ankle exoskeleton of claim 1, wherein: The support framework is in a flat plate shape, the width of the main spine is d1, and 1 cm≤d1≤3 cm; the width of the rib is d2, and 0.3 cm≤d2≤1 cm.

3. The fishbone soft ankle exoskeleton of claim 1, wherein: A plurality of pressure sensors are arranged in the bottom pad, the plurality of pressure sensors are uniformly arranged along the center line direction of the main spine, and the wires of the pressure sensors are arranged on the surface of the heel enclosure.

4. The fishbone soft ankle exoskeleton of claim 1, wherein: The telescopic driving mechanism is an electric push rod.

5. The fish-bone soft ankle exoskeleton of claim 4, wherein: The rear parts of the wrapping plate and the heel enclosure are provided with a connecting seat of the driving mechanism, the connecting seat comprises two L-shaped clamping grooves arranged opposite to each other along the length direction of the telescopic driving mechanism and a U-shaped support installed in the clamping grooves, two clamping plates with protruding ends are arranged at the back of the U-shaped support, the length of the clamping plate matches the distance of the corresponding clamping groove in the L-shaped clamping groove, a hinge hole is arranged at the free end of the U-shaped support, and the end part of the telescopic driving mechanism is connected with the hinge hole through a hinge shaft.

6. The fish bone soft ankle exoskeleton according to claim 1, characterized in that: A controller and a battery are further arranged, the pressure sensors are connected with the controller through wires, the electric push rod is connected with the controller through wires, and the battery is connected with the controller through wires.

7. The fish-bone soft exoskeleton ankle exoskeleton of claim 5, wherein: ​

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