A bionic external tendon device and method for foot and ankle coordinated assistance and training

Abstract

The application belongs to the field of ankle assistance and training devices, and specifically discloses a bionic external tendon device and method for ankle assistance and training, which comprises a forefoot palm protective sleeve, a rear heel protective sleeve, a lower leg protective sleeve, an external tendon rope group, a limiting mechanism and a power mechanism; one end of each of two first external tendon ropes is connected with the bottom of the forefoot palm protective sleeve, and the two first external tendon ropes are connected with the power mechanism after sequentially passing through the guide holes in the rear heel protective sleeve and the rear side of the lower leg protective sleeve; one end of a second external tendon rope is connected with the top of the forefoot palm protective sleeve, and the second external tendon rope is connected with the power mechanism after passing through the guide hole in the front side of the lower leg protective sleeve. The application can realize multidimensional coordinated movement of the foot and the ankle joint, and can realize hierarchical control of the foot bottom tension and the ankle joint auxiliary force. Through the coordinated movement of the foot and the ankle, the assistance and training effect are improved. In the application, the two first external tendon ropes of the foot bottom are cross arranged, and when the first external tendon ropes are pulled, the arch of the foot is pressed, and the training on the arch of the foot is enhanced.

Description

Technical Field

[0001] The present application belongs to the field of foot and ankle assisting and training devices, and more specifically, relates to a bionic external tendon device and method for foot and ankle coordinated assisting and training. Background Art

[0002] Ankle joint motion assist devices can improve human athletic ability, reduce metabolic energy, and also perform rehabilitation training for the ankle joint, accelerating the healing and recovery process of damaged tissues. Therefore, it is necessary to use ankle assist and training devices to help improve athletic performance and ankle joint rehabilitation training.

[0003] Most existing ankle-assisted and training devices are limited to controlling the ankle joint. For example, ankle exoskeletons primarily assist with ankle plantar flexion, focusing on improving gait stability and reducing energy consumption. However, with the increasing demands for sports performance and patients' need for sports rehabilitation or orthotics, single-dimensional motion assistance is no longer sufficient for complex sports and rehabilitation scenarios. There is an urgent need to design an ankle-assisted and training device capable of multi-dimensional motion control. Summary of the Invention

[0004] In response to the defects of the existing technology, the present application provides a bionic external tendon device and method for coordinated foot and ankle assistance and training, aiming to solve the problem that the existing foot and ankle training devices only provide single-dimensional motion assistance, resulting in poor assistance and rehabilitation training effects and prolonged ankle joint recovery time.

[0005] The present application provides a bionic external tendon device for coordinated assistance and training of the foot and ankle, which specifically includes a forefoot cover, a rear heel cover, a calf cover, an external tendon rope group, a limiting mechanism and a power mechanism; the external tendon rope group includes two first external tendon ropes and one second external tendon rope, one end of the two first external tendon ropes are respectively connected to the two sides of the bottom of the forefoot cover, and the first external tendon rope reaches the heel parallel to the sole of the foot, and is led upward and passes through the guide holes on the rear sides of the rear heel cover and the calf cover in turn, and is fixedly connected to the output end of the power mechanism; One end of the second external tendon rope is connected to the top of the forefoot cover, and the second external tendon rope is fixedly connected to the output end of the power mechanism after passing through the guide hole on the front side of the calf cover; the power mechanism pulls any one of the first external tendon ropes or the second external tendon rope or pulls two of the first external tendon ropes at the same time to pull the forefoot cover to drive the ankle movement; a limiting mechanism is provided on the first external tendon rope and the second external tendon rope, and the limiting mechanism is used to limit the maximum length of the rope movement between the starting point of the first external tendon rope or the second external tendon rope to the limiting mechanism.

[0006] Through the above technical solutions conceived by the present application, compared with the existing technology, since the present application adopts the design of pulling the first external tendon rope and the second external tendon rope by a power mechanism, it can realize multi-dimensional motion control of the foot and ankle joint, ensuring the stable movement of the foot and ankle in multiple directions such as inversion, eversion, plantar flexion, and dorsiflexion. This method provides efficient mechanical conduction, ensuring the stability and flexibility of the foot and ankle joint during movement, and is suitable for foot and ankle rehabilitation and sports assistance. Through the coordinated movement of the foot and ankle, it improves gait stability, improves comfort and movement efficiency, and can achieve the beneficial effect of improving assistance and rehabilitation training, and shortening the rehabilitation time of the ankle joint; at the same time, through the setting of the limiting mechanism, graded control of the foot and ankle joint is realized, and personalized adjustment can be made according to the different rehabilitation stages of the patient, effectively avoiding excessive stress in the toe area, while ensuring the natural movement of the foot and ankle joint, and further improving the effect of rehabilitation training.

[0007] As a further preferred embodiment, the two first external tendon ropes are cross-arranged at a position between the forefoot cover and the heel cover.

[0008] By adopting the above-mentioned technical solution, the two first external tendon ropes are cross-arranged. When any one of the first external tendon ropes is pulled, it can produce a squeezing effect on the transverse and longitudinal arch of the sole of the foot, enhance the stiffness of the foot, and thus improve the support capacity and stability of the foot. This function is particularly suitable for assistance and rehabilitation scenarios that require arch correction, which helps to improve the foot's load-bearing capacity and adapt to different sports needs.

[0009] As a further preferred embodiment, the heel cover is provided with two first guide holes arranged in a vertical direction and parallel to each other, and the calf cover is provided with two second guide holes arranged in a vertical direction and parallel to each other, and the first external tendon rope passes through the first guide hole and the second guide hole on the same side in sequence and is connected to the power mechanism.

[0010] By adopting the above technical solution, the first external tendon rope passes through the first guide hole on the rear heel cover and the second guide hole on the calf cover on the same side, so that it is arranged neatly and is more stable when pulled, avoiding mutual interference.

[0011] As a further preferred embodiment, the cross-arranged portions of the two first external tendon ropes are both covered with anti-wear sleeves.

[0012] By adopting the above technical solution, the first external tendon rope is protected by an anti-wear sleeve, so as to avoid the two first external tendon ropes from moving relative to each other and affecting the service life after repeated wear.

[0013] As a further preferred embodiment, the limiting mechanism abuts against the heel cover or the calf cover after the first external tendon rope or the second external tendon rope moves, and by adjusting the limiting mechanism, graded control of plantar tension and ankle joint auxiliary force is achieved.

[0014] By adopting the above technical solution and adjusting the position of the limiting mechanism, the forces on the foot and ankle joint can be adjusted separately. When the first external tendon rope is pulled, the limiting mechanism contacts the rear heel guard, so that the maximum auxiliary force Fa is applied to the sole of the foot. When the force applied by the external tendon rope is less than or equal to Fa, the forces on the foot and ankle joint are the same; when the force applied is greater than Fa, the force on the foot is limited to Fa, that is, the maximum tension given to the sole of the foot by the external tendon, and the remaining force is borne by the ankle joint. When the first external tendon rope is pulled, the limiting mechanism contacts the calf strap, which can limit the extreme position of ankle plantar flexion. The hierarchical control mechanism is adopted to effectively distribute the force on the plantar plane and the auxiliary force of the ankle joint, thereby achieving support for the coordinated movement of the foot and ankle, promoting the assistance and training of the intrinsic muscles of the plantar, and helping to improve the movement and support ability of the foot. When the second external tendon rope is pulled, the limiting mechanism contacts the calf strap, which can limit the extreme position of ankle dorsiflexion.

[0015] As a further preferred embodiment, the limiting mechanism includes a limiting sleeve and a threaded locking member, the limiting sleeve is arranged on the first external tendon rope or the second external tendon rope, the threaded locking member is threadedly connected to the corresponding limiting sleeve and the threaded locking member can be rotated to abut against the first external tendon rope or the second external tendon rope.

[0016] By adopting the above technical solution, the sliding limit sleeve adjusts its position on the external tendon rope, and the threaded locking piece is rotated to abut against the external tendon rope, so that the position of the limit sleeve is fixed. The operation is convenient and quick, and the position of the limit sleeve is easy to adjust.

[0017] As a further preference, one end of the first external tendon rope or the second external tendon rope is fixedly connected to the forefoot sheath.

[0018] By adopting the above technical solution, the device has better integrity and is easy to store and carry. At the same time, the first external tendon rope or the second external tendon rope is more stable when pulling the forefoot sheath.

[0019] As a further preference, the heel guard is further provided with a strap for fixing the foot and the heel guard.

[0020] By adopting the above technical solution, the connection of the heel cover is more stable when the foot is worn, thereby improving the training effect.

[0021] As a further preference, the power mechanism includes three motors, and the ends of the first external tendon rope and the second external tendon rope are fixedly connected to the output shafts of the three motors respectively.

[0022] By adopting the above technical solution, one or two of the three motors are started according to the needs of use, which makes it easy to control the pulling of the first external tendon rope and the second external tendon rope, and the control is convenient and stable.

[0023] The present application provides a foot-ankle coordinated assistance and training method, which uses the above-mentioned bionic external tendon device and includes the following steps:

[0024] S1: Wear the forefoot sleeve, heel sleeve and calf sleeve in sequence;

[0025] S2: adjusting the limiting mechanism so that when the power mechanism pulls the first external tendon rope or the second external tendon rope, the maximum length of the limiting mechanism movement is a predetermined value, the power mechanism pulls the two first external tendon ropes in sequence and then pulls the two first external tendon ropes simultaneously, releases the first external tendon rope and then pulls the second external tendon rope, and repeats this process multiple times;

[0026] S3: adjusting the limiting mechanism so that when the power mechanism pulls the first external tendon rope or the second external tendon rope, the maximum length of movement of the limiting mechanism increases;

[0027] S4: the power mechanism pulls the two first external tendon ropes in sequence and then pulls the two first external tendon ropes simultaneously, releases the first external tendon rope and then pulls the second external tendon rope, and repeats this process multiple times;

[0028] S5: Repeat steps S3 and S4 according to the power assistance and training progress and user feedback until the foot-ankle coordinated power assistance and training are completed.

[0029] In general, the above technical solutions conceived by this application have the following technical advantages compared with the existing technology:

[0030] 1. In this application, a power mechanism is used to pull the first and second lateral tendon cords, and the first lateral tendon cords are arranged in a cross-arranged design. The user's foot and ankle joint are pulled by the first and second lateral tendon cords, implementing multi-dimensional motion control, achieving coordinated foot and ankle movement, and ensuring stable ankle movement in multiple directions such as inversion, eversion, plantar flexion, and dorsiflexion. This method provides efficient mechanical transmission, ensuring the stability and flexibility of the foot and ankle joint during movement. It is suitable for foot and ankle support, rehabilitation, and sports assistance. By optimizing the coordinated movement of the foot and ankle, it improves gait stability. Improving comfort and exercise efficiency can achieve the beneficial effects of improving the effect of power assistance and rehabilitation training, and shortening the rehabilitation time of the ankle joint; at the same time, the limiting mechanism realizes graded control of the foot and ankle joint, limiting the maximum moving length of the rope between the starting point of the first external tendon rope or the second external tendon rope and the limiting mechanism. The device reasonably distributes the force of the foot and ankle joint under different force conditions, and can be personalized according to the power assistance and different rehabilitation stages, effectively avoiding excessive force in the toe area, while ensuring the natural movement of the foot and ankle joint, and improving the effect of power assistance and rehabilitation training.

[0031] 2. This application can separately adjust the forces applied to the foot and ankle joints by adjusting the position of the limiting mechanism. When the first lateral tendon rope is pulled, the limiting mechanism abuts the rear heel guard, ensuring that the maximum auxiliary force Fa is applied to the sole of the foot. When the force applied by the lateral tendon rope is less than Fa, the forces applied to the foot and ankle joints are equal. When the applied force is greater than Fa, the force applied to the foot is limited to Fa, and the remaining force is borne by the ankle joint. When the first lateral tendon rope is pulled, the limiting mechanism abuts the calf strap, limiting the extreme position of plantar flexion of the ankle joint. When the second lateral tendon rope is pulled, the limiting mechanism abuts the calf strap, limiting the extreme position of dorsiflexion of the ankle joint. A graded control mechanism is employed to effectively distribute the force applied to the plantar plane of the foot and the auxiliary force applied to the ankle joint, thereby supporting coordinated foot and ankle motion, promoting training of the intrinsic plantar muscles, and helping to enhance the movement and support capabilities of the foot.

[0032] 3. During support and rehabilitation training, the two first lateral tendon cords are cross-linked. When either cord is pulled, it compresses the horizontal and vertical arches of the foot, increasing tension at both ends and on both sides of the foot. This strengthens the foot's stiffness and improves its support and stability. This feature is particularly suitable for rehabilitation scenarios requiring arch correction. It also activates the plantar muscles, enhances foot strength, and improves the foot's adaptability to external loads, helping to improve the foot's load-bearing capacity and adapt to different sports needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a schematic diagram of the overall structure of the bionic external tendon device provided in an embodiment of the present application;

[0034] Figure 2 is a schematic diagram of the overall structure of the limiting mechanism provided by the embodiment of the present application;

[0035] Figure 3 is a schematic diagram of the force on the foot provided by the embodiment of the present application;

[0036] Figure 4 is a schematic diagram of the position movement change of the limiting mechanism provided by the embodiment of the present application;

[0037] Figure 5 is a schematic diagram of the overall structure of the power mechanism provided by the embodiment of the present application;

[0038] Figure 6 is a schematic diagram of the front view structure of the bionic external tendon device provided by the embodiment of the present application.

[0039] In all the drawings, the same reference signs are used to represent the same elements or structures, wherein:

[0040] 1, forefoot sheath; 2, rear heel sheath; 21, first guide hole; 3, calf sheath; 31, second guide hole; 4, external tendon rope group; 4-1, first external tendon rope; 4-2, second external tendon rope; 5, limiting mechanism; 51, limiting sleeve; 52, threaded locking piece; 6, power mechanism; 61, motor. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0042] Referring to Figure 1 , the bionic external tendon device for ankle collaborative assistance and training disclosed in the present application comprises a forefoot sheath 1, a rear heel sheath 2, a calf sheath 3, an external tendon rope group 4, a limiting mechanism 5 and a power mechanism 6, wherein the forefoot sheath 1 is worn on the forefoot position when in use, the rear heel sheath 2 is worn on the heel position when in use, the calf sheath 3 is worn on the calf position when in use, the rear heel sheath 2 is provided with a strap, the rear heel sheath 2 and the foot are fixed through the strap, the movement of the foot and the movement of the calf are connected through the external tendon rope group 4, and collaborative assistance and training are achieved.

[0043] In this embodiment, the external tendon rope group 4 includes two first external tendon ropes 4-1 and one second external tendon rope 4-2. The first external tendon rope 4-1 and the second external tendon rope 4-2 are both made of steel wire ropes. One end of the two first external tendon ropes 4-1 are fixedly connected to the two sides of the bottom of the forefoot cover 1 respectively, and the first external tendon rope 4-1 reaches the heel parallel to the sole of the foot, and is led upward through the guide holes on the back of the heel cover 2 and the calf cover 3 in turn, and then fixedly connected to the output end of the power mechanism 6. The two first external tendon ropes 4-1 are located in a cross-arrangement between the forefoot cover 1 and the rear heel cover 2; one end of the second external tendon rope 4-2 is connected to the top of the forefoot cover 1, and the second external tendon rope 4-2 is fixedly connected to the output end of the power mechanism 6 after passing through the guide hole on the front side of the calf cover 3. Specifically, the heel guard 2 is integrally formed with a first positioning block, and two first guide holes 21 arranged in a vertical direction and parallel to each other are provided on the first positioning block. The calf guard 3 is integrally formed with a second positioning block, and two second guide holes 31 arranged in a vertical direction and parallel to each other are provided on the second positioning block. The first external tendon rope 4-1 passes through the first guide hole 21 and the second guide hole 31 on the same side in sequence and is connected to the power mechanism 6, and the first external tendon rope 4-1 is parallel to the calf. During power assistance and rehabilitation training, the user's foot and ankle joint perform ankle dorsiflexion, inversion, and plantar flexion and eversion through the traction of the first external tendon rope 4-1 and the second external tendon rope 4-2. The calf guard 3 is also integrally formed with a third positioning block, and a third guide hole arranged in a vertical direction is provided on the third positioning block. The second external tendon rope 4-2 at the top of the forefoot guard 1 can be used to assist the ankle dorsiflexion movement. The second external tendon rope 4-2 is provided with a limiting mechanism 5 to limit the ankle dorsiflexion limit position.

[0044] In another feasible embodiment, one end of the first external tendon rope 4-1 and the second external tendon rope 4-2 are connected to the forefoot cover 1 through Velcro. Specifically, the bottom of the forefoot cover 1 is fixedly connected with the Velcro fleece surface, and one end of the two first external tendon ropes 4-1 and the second external tendon rope 4-2 are fixedly connected with the Velcro hook surface. When connecting, the Velcro hook surface is adhered to the Velcro fleece surface. In this way, the forefoot cover 1 can be replaced according to the size of the user's foot, and the user can wear it more appropriately. The first external tendon rope 4-1 and the second external tendon rope 4-2 can also be connected to the forefoot cover 1 by buckles.

[0045] Specifically, the power mechanism 6 pulls any one of the first external tendon rope 4-1 or the second external tendon rope 4-2 or pulls two of the first external tendon ropes 4-1 at the same time to pull the forefoot cover 1 to drive the ankle movement. The power mechanism 6 includes three motors 61. The ends of the first external tendon rope 4-1 and the second external tendon rope 4-2 are fixedly connected to the output shafts of the three motors 61 respectively. One or two of the three motors 61 are started according to usage needs to facilitate control of pulling the first external tendon rope 4-1 and the second external tendon rope 4-2.

[0046] More specifically, initially, the first lateral tendon rope 4-1 is in a basic tensioned state, and the foot and ankle joint are not subjected to obvious external traction. The limiting mechanism 5 is located near the rope threading hole of the heel pad. When the user begins rehabilitation training, the first lateral tendon rope 4-1 begins to function. The first lateral tendon rope 4-1 drives the foot and ankle joint to perform multi-dimensional movements through mechanical traction. Specifically, both first lateral tendon ropes 4-1 can drive the ankle joint to complete plantar flexion movement. When the first lateral tendon rope 4-1 on the outside of the ankle joint is pulled, it can drive the ankle joint to evert and at the same time promote coordinated movement of the inner side of the forefoot; and when the first lateral tendon rope 4-1 on the inside of the ankle joint is pulled, it mainly drives the ankle joint to evert and promotes corresponding coordinated movement of the outer side of the forefoot. When the power mechanism pulls the second lateral tendon rope 4-2, it can assist the ankle joint in dorsiflexion.

[0047] Furthermore, a limiting mechanism 5 is provided on both the first external tendon rope 4-1 and the second external tendon rope 4-2. By adjusting the position of the limiting mechanism 5, the force on the foot and ankle joint can be adjusted in stages. The limiting mechanism 5 is used to limit the maximum length of the rope movement between the starting point of the first external tendon rope 4-1 or the second external tendon rope 4-2 and the limiting mechanism 5. When the limiting mechanism 5 abuts against the rear heel cover 2, the maximum moving length of the steel wire rope from the forefoot cover 1 to the limiting mechanism 5 of the external tendon rope 4 is limited, that is, the maximum tension of the sole of the foot is limited. Specifically, when the first external tendon rope 4-1 is pulled, the limiting mechanism 5 abuts against the bottom surface of the first positioning block on the rear heel cover 2. Furthermore, the limiting mechanism 5 includes two limiting sleeves 51 and a threaded locking piece 52. The limiting sleeve 51 is sleeved on the first external tendon rope 4-1 or the second external tendon rope 4-2. The threaded locking piece 52 is threadedly connected to the corresponding limiting sleeve 51 and the rotating threaded locking piece 52 can abut against the first external tendon rope 4-1 or the second external tendon rope 4-2. The sliding limiting sleeve 51 adjusts its position on the first external tendon rope 4-1 or the second external tendon rope 4-2, and abuts against the first external tendon rope 4-1 by rotating the threaded locking piece 52, so that the position of the limiting sleeve 51 is fixed. By adjusting the position of the limiting sleeve 51, the maximum auxiliary force Fa applied to the sole of the foot can be adjusted. Specifically, Fa is not greater than 100N, and the specific value can be determined according to actual needs. In this embodiment, Fa is 55N. When the force applied by the first external tendon rope 4-1 is less than or equal to Fa, the forces on the foot and ankle joint are the same; when the force applied by the first external tendon rope 4-1 is greater than Fa, the heel guard 2 is directly pulled by the limiting sleeve 51, and the force on the foot is limited to Fa, and the remaining force is borne by the ankle joint. When the limiting mechanism 5 abuts against the calf guard 3, the extreme position of plantar flexion of the ankle joint can be limited. The hierarchical control mechanism effectively distributes the force on the plantar plane and the auxiliary force of the ankle joint, ensuring that the foot does not bear excessive pressure, thereby avoiding excessive force on the toes, thereby supporting the coordinated movement of the foot and ankle, promoting the training of the intrinsic muscles of the plantar foot, and helping to improve the movement and support ability of the foot. When the second external tendon rope 4-2 is pulled and the limiting mechanism 5 abuts against the calf guard 3, the extreme position of dorsiflexion of the ankle joint can be achieved.

[0048] Further, refer to Figure 3As shown, the two first outer tendon ropes 4-1 are arranged in a crossing manner at the part between the forefoot palm sheath 1 and the rear heel sheath 2, and the effect of controlling the multi-dimensional movement of the ankle is better when the two first outer tendon ropes 4-1 are arranged in a crossing manner. When any one of the first outer tendon ropes 4-1 is pulled, the force of the first outer tendon rope 4-1 is decomposed due to the inclined arrangement of the first outer tendon rope 4-1. Under the action of the pulling force of the first outer tendon rope 4-1, the intrinsic muscles close to the forefoot and the heel extrude the midfoot, which can extrude the transverse and longitudinal arches of the foot bottom, thereby enhancing the stiffness of the foot and improving the supporting ability and stability of the foot. This function is particularly suitable for rehabilitation scenarios that require arch correction and helps to improve the load-bearing capacity of the foot and adapt to different movement needs.

[0049] In the present application, not only the mechanical control of the ankle movement is realized by the first outer tendon rope 4-1 and the second outer tendon rope 4-2, but also the intrinsic muscles of the foot bottom and the external muscles of the lower leg are activated by the mechanical action, which makes up for the deficiency of the existing rehabilitation device in the training of intrinsic muscles. In the process of rehabilitation training, the intrinsic muscles of the foot bottom participate in the movement under passive traction, forming a cooperative training of the intrinsic muscles of the foot bottom and the external muscles of the lower leg, thereby being strengthened, which helps to restore the strength and flexibility of the foot. The intrinsic muscles refer to the muscles originating from the foot and terminating at the foot, and the external muscles refer to the muscles originating from the leg and crossing the ankle joint and attaching to the foot.

[0050] The present application also discloses a method for assisting and training the cooperation of the ankle, comprising the following steps:

[0051] S1: wearing the forefoot palm sheath 1, the rear heel sheath 2 and the lower leg sheath 3 in sequence;

[0052] S2: adjusting the limiting mechanism 5, so that when the power mechanism 6 pulls the first outer tendon rope 4-1 or the second outer tendon rope 4-2, the maximum length of the movement of the limiting mechanism 5 is a predetermined value L1, L1 is 10 mm, at this time, pulling the first outer tendon rope 4-1 makes the limiting sleeve 51 abut against the rear heel sheath 2, so that the maximum auxiliary force Fa is applied to the foot bottom, Fa is 55 N, when the force applied by the outer tendon rope 4 is less than or equal to Fa, the force of the foot and the ankle joint is the same; when the applied force is greater than Fa, the force of the foot is limited to Fa, and the remaining force is borne by the ankle joint; starting the power mechanism 6 to pull the first outer tendon rope 4-1 in sequence, then pulling the two first outer tendon ropes 4-1 at the same time, then pulling the second outer tendon rope 4-2 after releasing the first outer tendon rope 4-1, the power mechanism 6 pulls the second outer tendon rope 4-2 to assist the dorsiflexion of the ankle joint, and then abuts against the lower leg sheath 3 after rising through the limiting mechanism 5, thereby limiting the dorsiflexion limit position of the ankle joint, and the above steps are repeated for multiple times;

[0053] S3: According to the actual rehabilitation training requirement, the limiting mechanism 5 is adjusted, so that when the power mechanism 6 pulls the first outer tendon rope 4-1 or the second outer tendon rope 4-2, the maximum length of the movement of the limiting mechanism 5 is increased to L2, L2 is greater than L1, and in this embodiment, L2 is 15 mm, that is, the maximum length of the movement of the power mechanism 6 pulling the outer tendon rope 4 is increased by 5 mm, at this time, the outer tendon rope 4 is pulled to make the limiting sleeve 51 abut against the rear heel sheath 2, so that the maximum auxiliary force Fb applied to the foot bottom, Fb is greater than Fa, and in this embodiment, Fb is 65 N, when the force applied by the outer tendon rope 4 is less than or equal to Fb, the force borne by the foot and the ankle joint is the same; when the applied force is greater than Fb, the force borne by the foot is limited to Fb, and the remaining force is borne by the ankle joint;

[0054] S4: The power mechanism 6 is started again to pull the two first outer tendon ropes 4-1 in turn, and then pull the two first outer tendon ropes 4-1 at the same time, pull the second outer tendon rope 4-2 after releasing the first outer tendon rope 4-1, and repeat the above process for multiple times.

[0055] S5: According to the auxiliary force, the rehabilitation training process and the user feedback, steps S3 and S4 are repeated, and after each adjustment of the limiting mechanism 5, the maximum length of the movement of the power mechanism 6 pulling the first outer tendon rope 4-1 is decreased in turn, for example, after the limiting mechanism 5 is adjusted again, the maximum length of the movement of the power mechanism 6 pulling the first outer tendon rope 4-1 is increased by L3, L3 is 18 mm, that is, the maximum length of the movement of the power mechanism 6 pulling the first outer tendon rope 4-1 is increased by 3 mm, so as to facilitate the user to accept, until the foot-ankle cooperative auxiliary force and the training are completed.

[0056] It is to be understood that the terms such as "include" and "may include" used in the present application represent the existence of the disclosed functions, operations or constituent elements, and do not limit one or more additional functions, operations and constituent elements. In the present application, terms such as "include" and / or "have" can be interpreted to represent a specific feature, number, operation, constituent element, component or a combination thereof, but cannot be interpreted to exclude the existence or addition of one or more other features, numbers, operations, constituent elements, components or a combination thereof.

[0057] It should be understood that the orientations or positional relationships indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as limiting or implying that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application.

[0058] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0059] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they can refer to fixed connection, detachable connection, or integral connection; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0060] It is easy for those skilled in the art to understand that the above is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A bionic external tendon device for foot and ankle coordinated assistance and training, characterized in that: It comprises a forefoot protective cover (1), a heel protective cover (2), a calf protective cover (3), an external tendon rope group (4), a limiting mechanism (5) and a power mechanism (6); The external tendon rope group (4) includes two first external tendon ropes (4-1) and one second external tendon rope (4-2), one end of the two first external tendon ropes (4-1) are respectively connected to the two sides of the bottom of the forefoot cover (1), and the first external tendon rope (4-1) is parallel to the sole of the foot to the heel, and is led upward and passes through the guide holes on the rear side of the heel cover (2) and the calf cover (3) in sequence, and is then fixedly connected to the output end of the power mechanism (6); one end of the second external tendon rope (4-2) is connected to the top of the forefoot cover (1), and the second external tendon rope (4-2) passes through the guide hole on the front side of the calf cover (3) and is then fixedly connected to the output end of the power mechanism (6); The power mechanism (6) pulls any one of the first external tendon ropes (4-1) or the second external tendon rope (4-2) or simultaneously pulls the two first external tendon ropes (4-1) to pull the forefoot sheath (1) to drive the ankle to move; A limiting mechanism (5) is provided on both the first external tendon rope (4-1) and the second external tendon rope (4-2), and the limiting mechanism (5) is used to limit the maximum length of the rope movement between the starting point of the first external tendon rope (4-1) or the second external tendon rope (4-2) and the limiting mechanism (5); After the first external tendon rope (4-1) or the second external tendon rope (4-2) moves, the limiting mechanism (5) abuts against the rear heel cover (2) or the calf cover (3), and by adjusting the limiting mechanism (5), graded control of the plantar tension and the ankle joint auxiliary force is achieved.

2. A bionic external tendon device for foot-ankle coordinated assistance and training according to claim 1, characterized in that: The two first external tendon ropes (4-1) are arranged crosswise at a position between the forefoot sheath (1) and the heel sheath (2).

3. The bionic external tendon device for foot-ankle coordinated assistance and training according to claim 1, characterized in that: The rear side of the heel guard (2) is provided with two first guide holes (21) arranged in a vertical direction and parallel to each other, and the rear side of the calf guard (3) is provided with two second guide holes (31) arranged in a vertical direction and parallel to each other. The first external tendon rope (4-1) passes through the first guide hole (21) and the second guide hole (31) on the same side in sequence and is connected to the power mechanism (6).

4. A bionic external tendon device for foot-ankle coordinated assistance and training according to claim 2, characterized in that: The cross-arranged positions of the two first external tendon ropes (4-1) are both covered with anti-wear sleeves.

5. The bionic external tendon device for foot-ankle coordinated assistance and training according to claim 1, characterized in that: The limiting mechanism (5) comprises a limiting sleeve (51) and a threaded locking member (52); the limiting sleeve (51) is sleeved on the first external tendon rope (4-1) or the second external tendon rope (4-2); the threaded locking member (52) is threadedly connected to the corresponding limiting sleeve (51) and can be rotated to abut against the first external tendon rope (4-1) or the second external tendon rope (4-2).

6. The bionic external tendon device for foot-ankle coordinated assistance and training according to claim 1, characterized in that: One end of the first outer tendon rope (4-1) or the second outer tendon rope (4-2) is fixedly connected to the forefoot sheath (1).

7. The bionic external tendon device for foot-ankle coordinated assistance and training according to claim 1, characterized in that: The heel cover (2) is also provided with a strap for fixing the foot and the heel cover (2).

8. The bionic external tendon device for foot-ankle coordinated assistance and training according to claim 7, characterized in that: The power mechanism (6) comprises three motors (61), and the ends of the first external tendon rope (4-1) and the second external tendon rope (4-2) are fixedly connected to the output shafts of the three motors (61), respectively.

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