Knee joint training device and method

Abstract

The invention relates to the technical field of rehabilitation instruments, in particular to a knee joint training device and method. The knee joint training device comprises a bed body, the auxiliary training assembly comprises a fixing plate, the fixing plate is vertically connected with the bed body, a first sliding rail and a second sliding rail which are parallel to each other are arranged on the fixing plate, the first sliding rail and the second sliding rail are perpendicular to the bed body, a first foot pad capable of sliding along the first sliding rail is arranged on the first sliding rail, and a second foot pad capable of sliding along the second sliding rail is arranged on the second sliding rail. A first pressure sensor is arranged at the heel of the first foot pad, a second foot pad capable of sliding along the second sliding rail is arranged on the second sliding rail, and a second pressure sensor is arranged at the heel of the second foot pad; and the motor is connected with the first foot pad and the second foot pad. According to the device, training can be conducted according to the knee joint condition of the user, and the training efficiency and safety are improved.

Description

Technical Field

[0001] The present invention generally relates to the technical field of rehabilitation equipment and more specifically to a knee joint training device and method. Background Art

[0002] For patients with damaged knee joints, especially those who cannot stand or have difficulty in moving, their rehabilitation training often requires a lot of human resources. Most existing training methods are based on manual operations. For example, the patient sits on a chair and slowly straightens and bends the knee joint with his hands or a towel. Therefore, there is a lack of automation and intelligence, and it is impossible to accurately measure and record the patient's training status and effect, and it is impossible to adjust the training intensity and method in real time according to the patient's status.

[0003] Therefore, how to automatically and intelligently perform knee joint training according to the user's condition is one of the current research focuses. Summary of the invention

[0004] In order to solve the above-mentioned technical problem of lack of automation and intelligence in knee joint training, the present invention provides solutions in the following aspects.

[0005] In a first aspect, the present invention provides a knee joint training device, comprising: a bed body; an auxiliary training component, the auxiliary training component comprising a fixed plate, the fixed plate being vertically connected to the bed body, the fixed plate being provided with a first parallel slide rail and a second slide rail, the first slide rail and the second slide rail being perpendicular to the bed body, a first foot pad that can slide along the first slide rail being provided on the first slide rail, a first pressure sensor being provided at the heel of the first foot pad, a second foot pad that can slide along the second slide rail being provided on the second slide rail, a second pressure sensor being provided at the heel of the second foot pad; a motor, the motor being connected to the first foot pad and the second foot pad to control the movement of the first foot pad and the second foot pad.

[0006] Further, the motor includes a first motor and a second motor, the auxiliary training assembly also includes a first slider and a first gear, the first slider is arranged between the first slide rail and the first foot pad, a first transmission rod is connected between the first slider and the first gear, the output shaft of the first motor is connected to a second gear, and the second gear is meshed with the first gear;

[0007] The auxiliary training component also includes a second slider and a third gear. The second slider is arranged between the second slide rail and the second foot pad. A second transmission rod is connected between the second slider and the third gear. The output shaft of the second motor is connected to a fourth gear, and the fourth gear is meshed with the third gear.

[0008] Furthermore, the first transmission rod is installed on the eccentric shaft of the first gear through a pin shaft, and the second transmission rod is installed on the eccentric shaft of the third gear through a pin shaft.

[0009] Furthermore, the bed body includes a parallel base and a bed board, a support frame is arranged between the base and the bed board, and straps for fixing the user's legs are arranged on the bed board, and a gyroscope is arranged on the straps.

[0010] Furthermore, it also includes a motor fixing plate, the first end of which is fixed with the first motor and the second motor, and the second end of which is vertically fixed on the base.

[0011] Furthermore, the bed is an ergonomic bed.

[0012] In a second aspect, the present invention provides a knee joint training method based on the knee joint training device of the first aspect, comprising: collecting the pressure at the heel of the user during training; adjusting the output parameters of the motor according to the pressure; and using the output parameters to control the motor to provide vertical pulling force to the foot pad so that the foot pad moves back and forth on the slide rail.

[0013] Further, adjusting the output parameters of the motor according to the pressure includes:

[0014] When the foot pad is at the highest point in the slide rail, the pulling force provided by the motor is equal to the pressure threshold;

[0015] When the foot pad is at the lowest point in the slide rail, the pulling force provided by the motor is equal to zero;

[0016] When the foot pad moves between the highest point and the lowest point of the slide rail, the pulling force provided by the motor is greater than the pressure value, and the pulling force provided by the motor is less than the pressure threshold; the pressure threshold is used to characterize the maximum pressure at the heel when the user presses down with both feet, and the pressure threshold includes the maximum pressure of the left foot and the maximum pressure of the right foot.

[0017] Furthermore, the knee joint training device also includes a gyroscope for collecting changes in the angle of the user's legs, and is characterized in that it also includes: collecting the angle of the user's legs during training; when it is detected that the angle is greater than a preset angle, issuing an alarm to remind the user to adjust the leg posture.

[0018] The beneficial effects of the present invention are: the present invention can carry out targeted knee joint training according to the user's own situation, and can detect and record the user's training status and training effect in real time, and adjust the training intensity and method in real time, thereby improving the efficiency of knee joint training and achieving better training effect. In addition, by collecting the user's pressure and pressure threshold, the safety and reliability of the user's knee joint training are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] By reading the following detailed description with reference to the accompanying drawings, the above and other objects, features and advantages of the exemplary embodiments of the present invention will become readily understood. In the accompanying drawings, several embodiments of the present invention are shown in an exemplary and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:

[0020] Figure 1 is a structural diagram schematically showing a knee joint training device according to an embodiment of the present invention;

[0021] Figure 2 Schematically illustrates the structure of the auxiliary training component according to an embodiment of the present invention Figure 1 ;

[0022] Figure 3 Schematically illustrates the structure of the auxiliary training component according to an embodiment of the present invention Figure 2 ;

[0023] Figure 4 is a flow chart schematically illustrating an auxiliary training method according to an embodiment of the present invention.

[0024] Description of the drawings: 1-fixed plate, 4-base, 5-bed board, 6-support frame, 7-strap, 8-gyroscope, 9-motor fixed plate, 21-first slide rail, 22-first foot pad, 23-first pressure sensor, 24-first motor, 25-first slider, 26-first gear, 27-first transmission rod, 28-second gear, 31-second slide rail, 32-second foot pad, 33-second pressure sensor, 34-second motor, 35-second slider, 36-third gear, 37-second transmission rod, 38-fourth gear. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0026] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0027] Figure 1 Schematically shows the structure of a knee joint training device according to an embodiment of the present invention.

[0028] Depend on Figure 1 It can be seen that the knee joint training device includes a bed body and an auxiliary training component. The bed body supports and carries the user; the auxiliary training component is used to assist the user in knee joint training, and the auxiliary training component includes a fixing plate 1, which is vertically connected to the bed body.

[0029] In one embodiment, the bed body includes a base 4, a support frame 6 and a bed board 5. The base 4 and the bed board 5 are parallel, and the support frame 6 is arranged between the base 4 and the bed board 5. Furthermore, the bed board 5 can be designed to be ergonomically shaped, so that the user can lie comfortably on the bed board 5 to perform knee joint training, thereby improving the comfort of the user in knee joint training. In other optional embodiments, the bed body can be set to be integrally formed, or only the support seat and the bed body can be set. Therefore, the knee joint training device is not limited to the shape and material of the base 4, the support frame 6 and the bed board 5. Those skilled in the art can set it according to actual needs, and can provide a platform that can support users to perform knee joint training.

[0030] In one embodiment, a strap 7 is provided on the bed board 5 for fixing the user's legs to prevent the user's body from deviating from a safe position during knee joint training, thereby improving the safety of the user's knee joint training. Furthermore, a gyroscope 8 can be provided on the strap 7, and the gyroscope 8 is used to collect the angle change of the user's knee joint during training. When the angle of the user's knee joint is greater than a preset angle or deviates from a safe range, the user can be reminded to adjust the position or posture of his or her legs, so that the user can perform more standardized and safer training, thereby improving the efficiency of the user's knee joint training.

[0031] Figure 2 Schematically illustrates the structure of the auxiliary training component according to an embodiment of the present invention Figure 1 .

[0032] Depend on Figure 2 It can be seen that the auxiliary training component includes a fixing plate 1, a slide rail, a motor, a pressure sensor, a transmission rod and a foot pad. The slide rail includes a first slide rail 21 and a second slide rail 31; the motor is used to provide vertical tension, including a first motor 24 and a second motor 34; the pressure sensor is used to collect the pressure at the user's heel, including a first pressure sensor 23 and a second pressure sensor 33; the transmission rod includes a first transmission rod 27 and a second transmission rod 37; the foot pad is used to fix the user's foot, including a first foot pad 22 and a second foot pad 32.

[0033] Specifically, the first slide rail 21 and the second slide rail 31 are arranged in parallel on the fixed plate 1. Furthermore, the first slide rail 21 and the second slide rail 31 are both perpendicular to the bed body. A first slider 25 is arranged between the first slide rail 21 and the first foot pad 22, so that the first foot pad 22 can slide on the first slide rail 21. A first pressure sensor 23 is arranged at the heel of the first foot pad 22. Furthermore, between the first slider 25 and the first gear 26 (such as Figure 3 Specifically, a first end of the first transmission rod 27 is twistedly connected to the first slider 25, and a second end of the first transmission rod 27 is connected to the eccentric shaft on the first gear 26 through a pin shaft.

[0034] Furthermore, the first gear 26 and the second gear 28 (such as Figure 3 As shown), the second gear 28 is engaged with the output shaft of the first motor 24.

[0035] Similarly, a second slider 35 is provided between the second slide rail 31 and the second foot pad 32, so that the second foot pad 32 can slide on the second slide rail 31, and a second pressure sensor 33 is provided at the heel of the second foot pad 32. Further, a second transmission rod 37 is provided between the second slider 35 and the third gear 36, specifically, a first end of the second transmission rod 37 is twisted with the second slider 35, and a second end of the second transmission rod 37 is connected to an eccentric shaft on the third gear 36 through a pin shaft.

[0036] Furthermore, the third gear 36 is meshed with the fourth gear 38 , wherein the fourth gear 38 is connected to the output shaft of the first motor 24 .

[0037] It is understandable that when the first motor 24 provides a pulling force, it is transmitted to the first gear 26 through the second gear 28. At this time, the first gear 26 drives the first transmission rod 27 to control the speed and direction of the first slider 25 moving on the first slide rail 21, thereby controlling the back and forth movement of the first foot pad 22 on the first slide rail 21, thereby achieving the effect of assisting the user to perform knee joint training. Similarly, when the second motor 34 provides a pulling force, it is transmitted to the third gear 36 through the fourth gear 38. At this time, the third gear 36 drives the second transmission rod 37 to control the speed and direction of the second slider 35 moving on the second slide rail 31, thereby controlling the back and forth movement of the second foot pad 32 on the second slide rail 31, thereby achieving the effect of assisting the user to perform knee joint training.

[0038] In other optional embodiments, only one motor may be provided, and the motor may control the rotation of the first gear 26 and the third gear 36, thereby driving the movement of the first foot pad 22 and the second foot pad 32 respectively. In addition, the slider may not be provided, and the foot pad may be designed to slide directly on the slide rail.

[0039] In one embodiment, the knee joint training device further comprises a motor fixing plate 9, the first end of which is also fixed with a first motor 24 and a second motor 34, and the second end of which can be fixed to the base 4 of the bed. In other optional embodiments, the second end of the motor fixing plate may not be fixed to the base.

[0040] In one embodiment, the knee joint training device also includes a controller, which is used to receive data from the pressure sensor and adjust the output parameters of the motor, and the output parameters may include speed and torque, so that the state and effect of the user's knee joint training can be detected and recorded in real time, and the training intensity and method can be adjusted in real time according to the state and effect of the user's training, thereby improving the efficiency of knee joint training. In addition, the controller can also set an active training mode and a passive training mode. Under these two training modes, a progressive knee joint training mode, a random knee joint training mode, etc. can also be set, so that the training method and training mode suitable for the user can be selected according to the actual situation of the user, thereby improving the effect of knee joint training. Among them, the progressive knee joint training mode is to gradually increase or decrease the tension provided by the motor, while the random knee joint training mode is to randomly change the tension provided by the motor within a preset range.

[0041] In a second aspect, the present invention further provides a knee joint training method based on the knee joint training device of the first aspect, specifically, as follows Figure 4 As shown, the knee joint training method includes:

[0042] S101. Collect the pressure at the heel of the user during training.

[0043] First, when doing knee joint training, the user lies on the bed, ties the left and right legs with straps, and fixes the left and right feet on the foot pads, with the heels close to the pressure sensor. It should be noted that since the user's knee joint is damaged, when he lies on the bed, his knees / legs are bent.

[0044] Furthermore, if the user is using the knee joint training device for the first time, it is necessary to collect a pressure threshold, wherein the pressure threshold is used to characterize the maximum pressure at the heel when the user presses down with both feet, wherein the pressure threshold includes the maximum pressure of the left foot and the maximum pressure of the right foot, which are collected by two pressure sensors in the knee joint training device respectively. It is understandable that if the user's pressure threshold is larger, it means that the user's knee joint extension is better, then the user can provide more power when performing knee joint training, so the auxiliary force required is smaller, that is, the pulling force provided by the motor is smaller. On the contrary, if the user's pressure threshold is smaller, it means that the worse the user's knee joint extension is, the greater the auxiliary force required by the user during training, that is, the pulling force provided by the motor is larger.

[0045] After obtaining the user's pressure threshold, the user can choose active training or passive training. Active training is to perform knee joint training directly according to the collected pressure threshold, and passive training is to adjust the collected pressure threshold and then perform knee joint training. For example, if the user's knee joint is in good condition, the pressure threshold can be appropriately increased so that the user can get better training to improve the efficiency of rehabilitation.

[0046] Furthermore, after determining active training or passive training, a training mode can also be selected, such as progressive knee joint training mode, random knee joint training mode, etc. By selecting a suitable training method and mode according to the actual situation of the user, the effect of the user's knee joint training is improved.

[0047] After determining the training method and training mode, the pressure on the heel of the user during training is collected in real time.

[0048] S102: adjusting output parameters of the motor according to the pressure.

[0049] According to the collected pressure, the output parameters of the motor are adjusted, and the output parameters may include speed and torque, so as to control the speed and direction of movement of the foot pad. Specifically, when the foot pad is at the highest point in the slide rail, the pulling force provided by the motor is equal to the pressure threshold; when the foot pad is at the lowest point in the slide rail, the pulling force provided by the motor is equal to zero; when the foot pad moves between the highest point and the lowest point of the slide rail, the pulling force provided by the motor is greater than the pressure value, and the pulling force provided by the motor is less than the pressure threshold.

[0050] It can be understood that the pulling force provided by the motor during the upward movement of the foot pad is greater than the pulling force provided by the motor during the downward movement of the foot pad, and both are greater than the pressure at the heel.

[0051] It can be understood that when the pulling force provided by the motor is equal to the user's pressure threshold, it indicates that the foot pad can no longer move upward, that is, it has reached the height that the user can bear. Therefore, by stopping the foot pad from moving upward when the pulling force provided by the motor is equal to the user's pressure threshold, the user is avoided from being injured due to moving to a position that is too high, thereby improving the safety and reliability of the user's knee joint training.

[0052] In one embodiment, the real-time collected pressure may be added to a preset value to obtain the pulling force required by the user, wherein the preset value may be set to 5N, and in other optional embodiments, those skilled in the art may select it according to actual needs, for example, to 3N.

[0053] S103, using the output parameters to control the motor to provide vertical pulling force for the foot pad, so that the foot pad moves up and down on the slide rail.

[0054] In one embodiment, the pulling force required by the user can be determined every 50ms, so as to provide the user with a relatively suitable pulling force at the moment to meet the needs of the user. For example, at the beginning of training, the user can provide a large force, at this time, the pulling force provided by the motor should be small; after training for a period of time, the user will be tired and can provide less force, at this time the motor can be controlled to provide a larger pulling force. By re-determining the pulling force provided by the motor at regular intervals, a suitable pulling force can be provided during the user's knee joint training, thereby improving the safety and efficiency of the user's knee joint training. In other optional embodiments, the time interval can also be set to 60ms, and those skilled in the art can make a choice according to actual needs.

[0055] It is understandable that the smaller the collected pressure value, the greater the force that the user can provide by himself, the smaller the auxiliary force (i.e. pulling force) required from the motor, that is, the better the user's current knee joint condition. When the collected pressure value is 0 or very small, that is, consistent with that of a normal person, the user can still perform knee flexion and extension exercises, indicating that the user has recovered to the physical condition level of a normal person, and no further training is required. In addition, after the training is completed, the results of the training can also be displayed.

[0056] In one embodiment, the knee joint training method of the present invention also includes: real-time collection of angle changes at the user's knee joint during training, and when it is detected that the angle is greater than a preset angle or the range of the angle change exceeds a preset range, an alarm is issued, and the alarm is used to remind the user or other people to adjust the user's posture or body position during training.

[0057] Furthermore, the data collected by the pressure sensor can be uploaded to the host computer in real time, and the host computer stores these data and forms historical training records. Users or medical staff can analyze the historical training records and change the user's training method or methods in a targeted manner to improve the knee joint training effect.

[0058] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0059] In addition, the terms "first", "second", "third", and "fourth" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", "third", and "fourth" may explicitly or implicitly include at least one of the features.

[0060] Although this specification has shown and described a number of embodiments of the present invention, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Those skilled in the art will conceive of many modifications, changes and alternatives without departing from the ideas and spirit of the present invention. It should be understood that in the practice of the present invention, various alternatives to the embodiments of the present invention described herein may be employed.

Claims

1. A knee joint training device, characterized in that: include: Bed; An auxiliary training component, the auxiliary training component comprising a fixing plate (1), the fixing plate (1) being vertically connected to the bed body, the fixing plate (1) being provided with a first slide rail (21) and a second slide rail (31) being parallel to the bed body, the first slide rail (21) and the second slide rail (31) being vertical to the bed body, the first slide rail (21) being provided with a first foot pad (22) capable of sliding along the first slide rail (21), a first pressure sensor (23) being provided at the heel of the first foot pad (22), the second slide rail (31) being provided with a second foot pad (32) capable of sliding along the second slide rail (31), a second pressure sensor (33) being provided at the heel of the second foot pad (32); A motor is connected to the first foot pad (22) and the second foot pad (32) to control the movement of the first foot pad (22) and the second foot pad (32).

2. The knee joint training device according to claim 1, characterized in that: The motor comprises a first motor (24) and a second motor (34), the auxiliary training assembly further comprises a first slider (25) and a first gear (26), the first slider (25) is arranged between the first slide rail (21) and the first foot pad (22), a first transmission rod (27) is connected between the first slider (25) and the first gear (26), the output shaft of the first motor (24) is connected to a second gear (28), and the second gear (28) is meshed with the first gear (26); The auxiliary training component also includes a second slider (35) and a third gear (36), wherein the second slider (35) is arranged between the second slide rail (31) and the second foot pad (32), a second transmission rod (37) is connected between the second slider (35) and the third gear (36), and the output shaft of the second motor (34) is connected to a fourth gear (38), and the fourth gear (38) is meshed with the third gear (36).

3. The knee joint training device according to claim 2, characterized in that: The first transmission rod (27) is mounted on the eccentric shaft of the first gear (26) via a pin shaft, and the second transmission rod (37) is mounted on the eccentric shaft of the third gear (36) via a pin shaft.

4. The knee joint training device according to claim 2, characterized in that: The bed body comprises a parallel base (4) and a bed board (5), a support frame (6) is arranged between the base (4) and the bed board (5), a strap (7) for fixing the legs of a user is arranged on the bed board (5), and a gyroscope (8) is arranged on the strap (7).

5. The knee joint training device according to claim 4, characterized in that: It also includes a motor fixing plate (9), the first end of which is fixed with the first motor (24) and the second motor (34), and the second end of which is vertically fixed on the base (4).

6. The knee joint training device according to claim 1, characterized in that: The bed body is an ergonomic bed.

7. A knee joint training method based on the knee joint training device according to any one of claims 1 to 6, characterized in that: include: Collect the pressure at the heel of the user during training; adjusting the output parameters of the motor according to the pressure; The output parameters are used to control the motor to provide vertical pulling force for the foot pad, so that the foot pad moves back and forth on the slide rail.

8. The knee joint training method according to claim 7, characterized in that: Adjusting the output parameters of the motor according to the pressure includes: When the foot pad is at the highest point in the slide rail, the pulling force provided by the motor is equal to the pressure threshold; When the foot pad is at the lowest point in the slide rail, the pulling force provided by the motor is equal to zero; When the foot pad moves between the highest point and the lowest point of the slide rail, the pulling force provided by the motor is greater than the pressure value, and the pulling force provided by the motor is less than the pressure threshold; the pressure threshold is used to characterize the maximum pressure at the heel when the user presses down with both feet, and the pressure threshold includes the maximum pressure of the left foot and the maximum pressure of the right foot.

9. The knee joint training method according to claim 7, wherein the knee joint training device further comprises a gyroscope for collecting changes in the angle of the user's legs, characterized in that: Also includes: Collecting the angle of the legs of the user during training; When it is detected that the angle is greater than a preset angle, an alarm is issued to remind the user to adjust the leg posture.

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