Stiffness variable ankle-foot orthosis

Abstract

This invention discloses a variable stiffness ankle-foot orthosis, comprising an ankle exoskeleton module and a transmission module. The ankle exoskeleton module includes a fixed support footplate, a beam frame, a cantilever beam, and a worktable. The beam frame vertically fixes the end of the cantilever beam to the footplate. The worktable includes a vertical slide rail and a horizontal slide rail. The position where the worktable connects to the cantilever beam is designated as the load point. The cantilever beam is vertically arranged, with the vertical slide rail parallel to the cantilever beam. The horizontal slide rail is perpendicular to the vertical slide rail and is slidably connected to the vertical slide rail. The horizontal slide rail is slidably connected to the cantilever beam through the load point. The transmission module includes a limb support, pulleys, and a hydraulic cylinder. The hydraulic cylinder is vertically arranged parallel to the vertical slide rail and connected to the limb support. The pulleys are located at both ends of the hydraulic cylinder, and cables are wound around the pulleys. The cables are connected to the piston inside the hydraulic cylinder and the horizontal slide rail, respectively. When the hydraulic cylinder operates, it drives the cables to move, which in turn drives the horizontal slide rail in the worktable to move along the cantilever beam.

Description

Technical Field

[0001] This invention belongs to the field of rehabilitation medical device technology, specifically relating to a variable stiffness ankle-foot orthosis. Background Technology

[0002] Ankle-foot orthoses are passive medical devices used to improve the gait of children with cerebral palsy. They can rotate the neutral angle of the ankle joint to prevent muscle and skeletal deformities and provide support and stability when standing and walking. They have now become a mainstream treatment method and are often used in combination with other additional treatment measures to effectively improve the biomechanical problems of the wearer's lower limbs.

[0003] In recent years, with the continuous development of science and technology in China, research on the functional structure of ankle and foot orthoses has received increasing attention. Gait analysis technology, 3D printing technology, and artificial intelligence algorithms have been widely applied in ankle and foot orthosis research. The application of these technologies has led to better research on the comfort and functional effects of ankle and foot orthoses, improving their practicality and therapeutic efficacy. However, the need for customized design of ankle and foot orthoses has received relatively little attention.

[0004] Currently, determining the stiffness and neutral angle of a customized ankle-foot orthosis largely relies on the expertise of physicians. Only through professional knowledge and clinical experience, along with continuous trial and error, comparison, and adjustment, can the optimal stiffness of the orthosis be determined. This process is time-consuming, laborious, and complex for patients and their families. Therefore, it is essential to design a device that can directly and clearly determine the optimal stiffness and neutral angle of the ankle-foot orthosis for the child, achieving the best corrective effect. Summary of the Invention

[0005] The purpose of this invention is to solve the above problems and provide a variable stiffness ankle-foot orthosis that has a short adjustment time, is easy to operate, and has a low manufacturing cost.

[0006] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows: a variable stiffness ankle-foot orthosis, comprising an ankle exoskeleton module and a transmission device module. The ankle exoskeleton module includes a fixed support foot plate, a beam frame, a cantilever beam, and a worktable. The beam frame vertically fixes the end of the cantilever beam to the foot plate. The worktable includes a vertical slide rail and a horizontal slide rail. The position where the worktable connects to the cantilever beam is designated as the load point. The cantilever beam is arranged vertically, the vertical slide rail is parallel to the cantilever beam, and the horizontal slide rail is perpendicular to the vertical slide rail. The vertical slide rail and the horizontal slide rail are slidably connected, and the horizontal slide rail is slidably connected to the cantilever beam through the load point. The transmission device module includes a limb support, pulleys, and a hydraulic cylinder. The hydraulic cylinder is arranged vertically, parallel to the vertical slide rail, and connected to the limb support. The pulleys are located at both ends of the hydraulic cylinder, and cables are wound around the pulleys. The cables are respectively connected to the piston inside the hydraulic cylinder and the horizontal slide rail. When the hydraulic cylinder is working, it drives the cables to move, thereby driving the horizontal slide rail in the worktable to move along the cantilever beam.

[0007] Preferably, the footplate has a concave and symmetrical groove structure, the cross-section of the footplate is in the shape of an arch, and the footplate fits snugly against the sole of the operator's foot.

[0008] Preferably, the beam frame is a column structure with a cross-section that is half-circular, and the middle of the beam frame fits against the operator's lower leg.

[0009] Preferably, there are two cantilever beams symmetrically distributed on the beam frame, and the cantilever beams are provided with cantilever beam grooves, through which the load points are slidably connected to the cantilever beams.

[0010] Preferably, the vertical slide rail has a cuboid structure.

[0011] Preferably, the end of the horizontal slide rail is provided with a horizontal slide rail connecting block, the horizontal slide rail connecting block is slidably connected to the vertical slide rail, and the middle part of the horizontal slide rail is fixedly connected to the load point.

[0012] Preferably, the limb support includes a limb support body, on which a limb support connecting rod and a limb support pulley rod are provided. The limb support connecting rod is connected to a vertical slide rail and a hydraulic cylinder, and the end of the limb support pulley rod is connected to a pulley.

[0013] Preferably, the load point is a U-shaped structure formed by bending sheet metal, and the load point is connected to the horizontal slide rail by bolts. The end of the bolt is located in the groove of the cantilever beam and can slide up and down along the groove of the cantilever beam.

[0014] Preferably, the pulleys are located at both ends of the hydraulic cylinder, and the end of the limb support pulley rod is connected to the center of the pulley, so that the pulley can rotate around the end of the limb support pulley rod.

[0015] Preferably, the cable is threaded inside the hydraulic cylinder and fitted onto a pulley.

[0016] The beneficial effects of this invention are:

[0017] 1. The variable stiffness ankle-foot orthosis provided by this invention overcomes the problems of existing ankle-foot orthosis on the market, which require professional doctors to make long-term adjustments, are time-consuming and difficult to adjust, and cause many inconveniences for patients and their families.

[0018] 2. This invention can be worn on the patient's ankle and foot area and the position of the load on the cantilever beam of the orthosis relative to the fixed support can be changed by the transmission device. This allows for rapid adjustment of the stiffness and neutral angle of the ankle and foot orthosis, greatly shortening the time required to optimize the stiffness and neutral angle. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of a three-dimensional model of a variable stiffness ankle-foot orthosis according to the present invention.

[0020] Figure 2 This is a schematic diagram of the structure of the present invention;

[0021] Figure 3 This is a schematic diagram of the variable cross-section cantilever beam of the present invention;

[0022] Figure 4 This is a schematic diagram of the structure of the hydraulic cylinder of the present invention;

[0023] Figure 5 This is a schematic diagram of the working principle of the hydraulic cylinder of the present invention.

[0024] Figure 6 This is a schematic diagram of the limb support structure of the present invention.

[0025] Explanation of reference numerals in the attached drawings: 1. Foot plate; 2. Beam frame; 3. Cantilever beam; 4. Vertical slide rail; 5. Horizontal slide rail; 6. Limb support; 7. Load point; 8. Pulley; 9. Hydraulic cylinder; 60. Support body; 61. Limb support connecting rod; 62. Limb support pulley rod; 63. Cylinder fixing rod; 611. Support connecting rod connecting block; 631. Cylinder fixing rod connecting block; 632. Cylinder fixing rod connecting ring. Detailed Implementation

[0026] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0027] like Figures 1 to 6As shown, the present invention provides a variable stiffness ankle-foot orthosis, comprising an ankle exoskeleton module and a transmission device module. The ankle exoskeleton module includes a fixed support foot plate 1, a beam frame 2, a cantilever beam 3, and a worktable. The beam frame 2 vertically fixes the end of the cantilever beam 3 to the foot plate 1. The worktable includes a vertical slide rail 4 and a horizontal slide rail 5. The position where the worktable connects to the cantilever beam 3 is designated as the load point 7. The cantilever beam 3 is vertically arranged, the vertical slide rail 4 is parallel to the cantilever beam 3, and the horizontal slide rail 5 is perpendicular to the vertical slide rail 4. The vertical slide rail 4 and the horizontal slide rail 5 are slidably connected, and the horizontal slide rail 5 is slidably connected to the cantilever beam 3 through the load point 7. The transmission device module includes a limb support 6, pulleys 8, and a hydraulic cylinder 9. The hydraulic cylinder 9 is vertically arranged parallel to the vertical slide rail 4 and connected to the limb support 6. The pulleys 8 are located at both ends of the hydraulic cylinder 9, and cables are wound around the pulleys 8. The cables are respectively connected to the piston inside the hydraulic cylinder 9 and the horizontal slide rail 5. When the hydraulic cylinder 9 is working, it drives the cable to move, which in turn drives the horizontal slide rail 5 in the worktable to move along the cantilever beam 3.

[0028] In this embodiment, the workbench surface specifically refers to the movable planes on the horizontal slide rail 5 and the vertical slide rail 4, where the sliding sliders can move, i.e., the surfaces of the horizontal and vertical slide rails, which are rigidly attached to the wearer's lower leg. The load point 7 is a movable slider driven by the hydraulic cylinder 9 to change the position of the load point 7 on the cantilever beam 3.

[0029] Footplate 1 has a concave, symmetrical groove structure, and its cross-section is shaped like an arch of the foot. Footplate 1 fits snugly against the operator's foot. In actual use, when the operator is a sick child, footplate 1 is used to fit snugly against the child's foot, ensuring that footplate 1 firmly wraps around the ankle.

[0030] In actual use, the structure and size parameters of footplate 1 need to be customized and designed in detail according to different users. Footplate 1 plays the role of wrapping and supporting the feet.

[0031] Beam 2 is a column structure with a semi-circular cross-section. The middle of beam 2 fits against the operator's lower leg. Beam 2 fixes the end of the cantilever beam 3 to the footboard.

[0032] Two cantilever beams 3 are symmetrically distributed on the beam frame 2. Each cantilever beam 3 has a groove, and the load point 7 is slidably connected to the cantilever beam 3 through these grooves. In this embodiment, the grooves are symmetrically distributed on both sides of the cantilever beam 3, making it an I-beam structure. The cantilever beam 3 is used to apply loads to the ankle joint.

[0033] In this embodiment, the cantilever beam 3 and the beam frame 2 are fixedly connected by covering the user's lower leg and ankle, thus fixing the rotation angle of the user's ankle joint. During walking, the cantilever beam 3 applies a suitable load to the user's ankle joint, i.e., a force that resists ankle rotation. This allows the user's foot to remain parallel to the ground, supporting the user's walking and ultimately correcting ankle joint dysfunction.

[0034] The vertical slide rail 4 has a cuboid structure to adjust the rigidity of the equipment. The end of the horizontal slide rail 5 is equipped with a horizontal slide rail connecting block, which is slidably connected to the vertical slide rail 4. The middle of the horizontal slide rail 5 is fixedly connected to the load point 7. The horizontal slide rail 5 is used to adjust the neutral angle.

[0035] The horizontal slide rail connecting block and the vertical slide rail 4 form a sliding pair connection. The horizontal slide rail connecting block is specifically a U-shaped slider that passes through the horizontal slide rail 5 and can slide smoothly on the vertical slide rail 4.

[0036] The limb support 6 includes a limb support body 60, on which a limb support connecting rod 61 and a limb support pulley rod 62 are provided. The limb support connecting rod 61 is connected to the vertical slide rail 4 and the hydraulic cylinder 9. The end of the limb support pulley rod 62 is connected to the pulley 8.

[0037] In this embodiment, the limb support 6 adopts a hollow structure to reduce the overall weight and ensure structural strength. However, this is not the optimal structure and can be continuously optimized based on actual usage needs. The function of the limb support 6 is to connect other important components and to wrap around the user's legs to prevent the inner side of the lower leg from hitting the cantilever beam 3. The limb support 6 is made of PC plastic.

[0038] The main body 60 of the support frame is a rod-shaped structure, and two support connecting rods 61 are symmetrically distributed at both ends of the main body 60. The support connecting rods 61 have a "V"-shaped hollow structure, which can provide support and reduce weight. The end of the support connecting rod 61 is fixedly connected to the main body 60 as an integral structure, and the other end of the support connecting rod 61 is provided with a support connecting rod connecting block 611. The support connecting rod connecting block 611 has a semi-circular groove structure formed on its inner surface. The end of the support connecting rod connecting block 611 is connected to the vertical slide rail 4, and the groove structure is connected to the middle of the hydraulic cylinder 9.

[0039] A hydraulic cylinder fixing rod 63 is also fixedly connected to the main body 60 of the support frame, and the hydraulic cylinder fixing rod 63 is connected to the main body 60 of the support frame side by side. The hydraulic cylinder fixing rod 63 is provided with a hydraulic cylinder fixing rod connecting block 631 and a hydraulic cylinder fixing rod connecting ring 632. The hydraulic cylinder fixing rod connecting block 631 is a concave semi-cylindrical structure, and the hydraulic cylinder fixing rod connecting ring 632 is a ring structure. The hydraulic cylinder passes through the hydraulic cylinder fixing rod connecting block 631 and the hydraulic cylinder fixing rod connecting ring 632.

[0040] In actual use, there are four hydraulic cylinders 9, with two hydraulic cylinders 9 arranged side by side as a group. The two hydraulic cylinders 9 in the same group are connected by a bracket connecting rod connecting block 611 and a cylinder fixing rod connecting block 631, respectively.

[0041] Load point 7 is a U-shaped slider structure formed by bending sheet metal. Load point 7 is connected to the horizontal slide rail 5 by bolts. The end of the bolt is located in the groove of the cantilever beam and can slide up and down along the groove of the cantilever beam. Load point 7 is used to determine the point where the load is applied on the cantilever beam 3.

[0042] Pulleys 8 are located at both ends of the hydraulic cylinder 9. The end of the limb support pulley rod 62 is connected to the center of pulley 8, and pulley 8 can rotate around the end of the limb support pulley rod 62. Pulley 8 controls the movement of the conveyor belt on the worktable.

[0043] The cable is threaded inside the hydraulic cylinder 9 and fitted onto the pulley 8. The hydraulic cylinder 9 moves by extending the cable through the movement of its piston.

[0044] Reference Figure 3 In this embodiment, the cantilever beam 3 is designed in the shape of an I-beam. The "effective length" of the cantilever beam 3 is changed by adjusting the position of the load on the cantilever beam 3 relative to its fixed end through the transmission device, thereby realizing the rapid adjustment of the stiffness and neutral angle of the variable stiffness ankle-foot orthosis.

[0045] Reference Figure 4 and Figure 5 In this embodiment, the piston of hydraulic cylinder 9 is connected to a cable, so that when the piston moves, the cable can be pulled in either direction. In this way, the movement of the piston can be transmitted to the worktable. The exoskeleton has a total of four hydraulic cylinders, which can satisfy the two degrees of freedom required for the vertical and horizontal movement of the worktable.

[0046] Those skilled in the art will recognize that the embodiments described herein are intended to help the reader understand the principles of the invention, and should be understood that the scope of protection of the invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific modifications and combinations based on the technical teachings disclosed in this invention without departing from the spirit of the invention, and these modifications and combinations are still within the scope of protection of this invention.

Claims

1. A variable stiffness ankle-foot orthosis, characterized in that: The device includes an ankle exoskeleton module and a transmission module. The ankle exoskeleton module includes a fixed support foot plate (1), a beam frame (2), a cantilever beam (3), and a worktable. The beam frame (2) vertically fixes the end of the cantilever beam (3) to the foot plate (1). The worktable includes a vertical slide rail (4) and a horizontal slide rail (5). The position where the worktable connects to the cantilever beam (3) is set as the load point (7). The cantilever beam (3) is arranged vertically. The vertical slide rail (4) is parallel to the cantilever beam (3), and the horizontal slide rail (5) is perpendicular to the vertical slide rail (4). The vertical slide rail (4) and the horizontal slide rail (5) are slidably connected. Next, the horizontal slide rail (5) is slidably connected to the cantilever beam (3) through the load point (7); the transmission device module includes a limb support (6), a pulley (8) and a hydraulic cylinder (9). The hydraulic cylinder (9) is arranged vertically parallel to the vertical slide rail (4) and connected to the limb support (6). The pulley (8) is located at both ends of the hydraulic cylinder (9). A cable is wound on the pulley (8). The cable is connected to the piston in the hydraulic cylinder (9) and the horizontal slide rail (5) respectively. When the hydraulic cylinder (9) is working, it drives the cable to move, which in turn drives the horizontal slide rail (5) in the workbench to move along the cantilever beam (3). The footplate (1) is a concave and symmetrical groove structure. The cross section of the footplate (1) is in the shape of an arch. The footplate (1) fits against the sole of the operator's foot. The beam frame (2) is a column structure, and the cross section of the beam frame (2) is a semi-circular structure. The middle of the beam frame (2) fits against the lower leg of the operator. The limb support (6) includes a limb support body (60), on which a limb support connecting rod (61) and a limb support pulley rod (62) are provided. The limb support connecting rod (61) is connected to a vertical slide rail (4) and a hydraulic cylinder (9). The end of the limb support pulley rod (62) is connected to a pulley (8). A hydraulic cylinder fixing rod (63) is also fixedly connected to the upper part of the support body (60). The hydraulic cylinder fixing rod (63) is connected to the support body (60) side by side. The hydraulic cylinder fixing rod (63) is provided with a hydraulic cylinder fixing rod connecting block (631) and a hydraulic cylinder fixing rod connecting ring (632). The hydraulic cylinder fixing rod connecting block (631) is a concave semi-cylindrical structure, and the hydraulic cylinder fixing rod connecting ring (632) is a ring structure. The hydraulic cylinder passes through the hydraulic cylinder fixing rod connecting block (631) and the hydraulic cylinder fixing rod connecting ring (632). The end of the bracket connecting rod (61) is fixedly connected to the bracket body (60) as an integral structure. The other end of the bracket connecting rod (61) is provided with a bracket connecting rod connecting block (611). The bracket connecting rod connecting block (611) is recessed to form a semi-circular groove structure. The end of the bracket connecting rod connecting block (611) is connected to the vertical slide rail (4). The groove structure is connected to the middle of the hydraulic cylinder (9). The cable is threaded through the inside of the hydraulic cylinder (9) and sleeved on the pulley (8); The piston of the hydraulic cylinder (9) is connected to a cable, so that when the piston moves, the cable can be pulled in any direction. In this way, the movement of the piston can be transmitted to the worktable. There are four hydraulic cylinders on the exoskeleton, which can meet the degree of freedom required for the vertical and horizontal movement of the worktable.

2. The variable stiffness ankle-foot orthosis according to claim 1, characterized in that: The number of cantilever beams (3) is two and symmetrically distributed on the beam frame (2). The cantilever beams (3) are provided with cantilever beam grooves, and the load point (7) is slidably connected to the cantilever beams (3) through the cantilever beam grooves.

3. The variable stiffness ankle-foot orthosis according to claim 1, characterized in that: The vertical slide rail (4) has a cuboid structure.

4. The variable stiffness ankle-foot orthosis according to claim 1, characterized in that: The horizontal slide rail (5) is provided with a horizontal slide rail connecting block at its end. The horizontal slide rail connecting block is slidably connected to the vertical slide rail (4). The middle part of the horizontal slide rail (5) is fixedly connected to the load point (7).

5. A variable stiffness ankle-foot orthosis according to claim 1, characterized in that: The load point (7) is a sheet metal bending structure in the shape of a "U". The load point (7) is connected to the horizontal slide rail (5) by bolts. The end of the bolt is located in the groove of the cantilever beam and can slide up and down along the groove of the cantilever beam.

6. A variable stiffness ankle-foot orthosis according to claim 1, characterized in that: The pulley (8) is located at both ends of the hydraulic cylinder (9), and the end of the limb support pulley rod (62) is connected to the center of the pulley (8). The pulley (8) can rotate around the end of the limb support pulley rod (62).

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