Ankle action correction system

Abstract

The invention provides an ankle motion correction system which is used for carrying out rehabilitation training on ankle joints when a hemiplegic patient walks, the ankle motion correction system comprises an ankle motion simulator and a controller, the ankle motion simulator comprises a base, a sole plate, a left side driving mechanism and a right side driving mechanism, and in an active training mode, the left side driving mechanism and the right side driving mechanism are driven by the controller; reading current data of a left motor of the left driving mechanism and current data of a right motor of the right driving mechanism; respectively calculating external forces Fe applied to the left motor and the right motor according to the current data of the motors; based on the data of the external force and the motor position # imgabs0 # at the current moment, the motor position # imgabs1 # at the next moment is obtained through calculation, and the motor position data at the next moment are sent to the left side driving mechanism and the right side driving mechanism; and the left side driving mechanism and the right side driving mechanism drive the foot bottom plate to swing back and forth or turn towards the left side or turn towards the right side relative to the base based on the received motor position data at the next moment.

Description

Technical Field

[0001] The invention relates to the technical field of motion correction, in particular to an ankle motion correction system. Background Art

[0002] Walking disorders are usually caused by nervous system damage, musculoskeletal diseases or surgical sequelae. Lower limb training is an important part of restoring the user's walking ability. Traditional training methods rely on manual operation, which is inefficient and difficult to meet the hospital's requirements for efficient, practical and precise training. However, existing lower limb training equipment has some limitations. Most of them focus on passive training of a single joint or cannot effectively simulate real joint movements, especially the joint movement of the ankle joint, which limits the maximization of the training effect. Ankle joint training plays a vital role in walking training. It has significant benefits for restoring the user's walking function, improving gait and preventing ankle injuries. Therefore, in order to better meet the needs of users, there is a need for an ankle movement correction system that can simulate ankle movements to drive patients to perform ankle rehabilitation correction. Summary of the invention

[0003] In order to solve the defects in the prior art, the present invention proposes an ankle movement correction system.

[0004] The ankle movement correction system of the present invention is used for rehabilitation training of ankle joints of hemiplegic patients when they walk, and comprises an ankle movement simulator and a controller.

[0005] The ankle motion simulator comprises: a base, a sole plate, a left driving mechanism and a right driving mechanism, wherein the sole plate is universally connected to the base for supporting the sole of a patient's foot, the left driving mechanism is hinged to the left edge of the bottom of the sole plate, and the right driving mechanism is hinged to the right edge of the bottom of the sole plate, and the left driving mechanism and the right driving mechanism are used to drive the sole plate to move relative to the base to drive the sole of the patient to perform ankle joint rehabilitation training, the left driving mechanism comprises a left motor and a left connecting rod assembly driven by the left motor, and the right driving mechanism comprises a right motor and a right connecting rod driven by the right motor,

[0006] The controller is connected to the ankle motion simulator and includes an active training mode and a passive training mode.

[0007] In active training mode, the controller performs the following steps:

[0008] Reading current data of the left motor of the left driving mechanism and current data of the right motor of the right driving mechanism;

[0009] The external force F applied to the left motor and the right motor is calculated according to the current data of the motor.e ;

[0010] Based on the external force data and the motor position at the current moment Calculate the motor position at the next moment and sending the motor position data at the next moment to the left driving mechanism and the right driving mechanism respectively,

[0011] In the passive training mode, the controller calculates the motor position at the next moment based on the pre-set normal ankle position curve. and sending the motor position data at the next moment to the left driving mechanism and the right driving mechanism respectively,

[0012] The left driving mechanism and the right driving mechanism drive the foot plate to swing forward and backward or flip toward the left or flip toward the right relative to the base based on the received motor position data at the next moment.

[0013] Preferably, in the active training mode, the motor position at the next moment is calculated by an admittance control algorithm.

[0014] Preferably, the admittance algorithm is:

[0015]

[0016] The points can be obtained:

[0017]

[0018] in:

[0019] F e is an external force applied to the left motor of the left drive mechanism or the right motor of the right drive mechanism,

[0020] That is, the actual position x and the expected position x of the sole described in the basic coordinate system at time t d The actual posture x is obtained by the controller directly reading the motor, and the expected posture x d It is obtained from the ankle position curve of a normal person. for The first derivative of for The second derivative of , K is the diagonal matrix of stiffness coefficients, B is the diagonal matrix of damping coefficients, M is the diagonal matrix of inertia coefficients, K, B, and M are obtained from experimental data.

[0021] Preferably, the controller calculates the motor position at the next moment The chaotic interference value x is also included nThe motor position at the next moment is:

[0022] Preferably, the chaotic interference value x n It is obtained from the following chaos formula:

[0023] h n =u*h n-1 *(1-h n-1 ) (4)

[0024] x n =A*h n (5)

[0025] Among them, h n is the chaos factor at the current moment, h n-1 is the chaos factor at the previous moment, the initial h 0 It is an arbitrary value between (0,1) set artificially, u is the chaos coefficient, which is set by the trainer, and A is the maximum interference value set artificially.

[0026] Preferably, the chaos coefficient u is any value between (3.5699, 4].

[0027] Preferably, the motor position data at the next moment includes the motor position data of the left drive mechanism and the motor position data of the right drive mechanism.

[0028] Preferably, a six-dimensional force sensor is further included, and the six-dimensional force sensor is arranged at the bottom of the base of the ankle motion simulator.

[0029] Preferably, the six-dimensional force sensor collects a curve of the force applied to the ankle motion simulator during walking, and sends it to the controller for extracting gait features.

[0030] The present invention has the following beneficial effects:

[0031] The ankle movement correction system of the present invention can simulate the flexion and extension of the ankle joint, adjust the speed and strength of the movement, provide real-time feedback and guidance, record the user's training data, etc. By accurately controlling and simulating the movement of the ankle, the ankle simulator can help users improve muscle strength, balance ability and gait stability, and promote the training and functional recovery of the lower limbs. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic structural diagram of an ankle movement correction system according to a preferred embodiment of the present invention.

[0033] Figure 2 It is a stereoscopic diagram of an ankle motion simulator according to a preferred embodiment of the present invention.

[0034] Figure 3 It is another stereoscopic view of an ankle motion simulator according to a preferred embodiment of the present invention.

[0035] Figure 4 It is a schematic structural diagram of an ankle motion simulator according to a preferred embodiment of the present invention.

[0036] Figure 5 It is a workflow diagram of an ankle motion simulation system according to a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0037] The following will illustrate the implementation methods of the present invention in conjunction with the drawings in the specification. It should be noted that the implementation methods involved in this specification are not exhaustive and do not represent the only implementation methods of the present invention. The following corresponding embodiments are only for the purpose of clearly illustrating the invention content of the patent of the present invention, and are not intended to limit its implementation methods. For ordinary technicians in this field, different forms of changes and modifications can be made on the basis of the description of this embodiment. All obvious changes or modifications that belong to the technical concept and invention content of the present invention are also within the scope of protection of the present invention.

[0038] Figure 1 It is a schematic structural diagram of an ankle movement correction system according to a preferred embodiment of the present invention. Figure 2 It is a stereoscopic diagram of an ankle motion simulator according to a preferred embodiment of the present invention. Figure 3 It is another stereoscopic view of an ankle motion simulator according to a preferred embodiment of the present invention. Figure 4 FIG. 1 is a schematic diagram of the structure of an ankle motion simulator according to a preferred embodiment of the present invention. Figure 1-4 As shown, an ankle movement correction system according to a preferred embodiment of the present invention is used for rehabilitation training of ankle joints of hemiplegic patients when walking, and includes an ankle movement simulator 1, a six-dimensional force sensor 2 and a controller 3.

[0039] Preferably, the ankle motion simulator 1 comprises: a base 11, a sole plate 12, a left driving mechanism and a right driving mechanism, the sole plate 12 is universally connected to the base 11, and is used to support the sole of the patient's foot (not shown), the left driving mechanism is hinged to the left edge of the bottom of the sole plate 12, and the right driving mechanism is hinged to the right edge of the bottom of the sole plate 12, and the left driving mechanism and the right driving mechanism are used to drive the sole plate 12 to move relative to the base 11 to drive the patient's foot to perform ankle joint rehabilitation training. Preferably, the left driving mechanism comprises a left motor 13 and a left connecting rod assembly 14 driven by the left motor 13, and the right driving mechanism comprises a right motor 15 and a right connecting rod 16 driven by the right motor 15. Preferably, the sole plate 12 and the base 1 can be universally connected through structures such as spherical bearings, universal bearings or universal joints. In another preferred embodiment, a first hinge axis extending along a first horizontal direction and a second hinge axis extending along a second horizontal direction are arranged between the foot plate 12 and the base 11 so that the foot plate 12 can rotate relative to the base 11 along the first horizontal direction and the second horizontal direction.

[0040] The ankle movement correction system of the preferred embodiment of the present invention has at least two training modes, including an active training mode and a passive training mode. The active training mode means that when the user has a certain athletic ability, but the movements are not standardized, the ankle movement simulator 1 allows the user to take the initiative and applies a corrective force to the ankle so that the ankle movement is corrected to the standardized movement. The passive training mode means that the motor of the ankle movement simulator 1 fits a predetermined trajectory to drive the user's ankle to perform movement training, and the user is in a passive state at this time.

[0041] refer to Figure 5 In the active training mode, the controller 3 performs the following steps:

[0042] The current data of the left motor 13 of the left driving mechanism and the current data of the right motor 15 of the right driving mechanism are read.

[0043] The external force F applied to the left motor 13 and the right motor 15 is calculated based on the current data of the motors. e Here, in the motor system, the external force applied to the motor is correlated with the motor current, and the external force can be calculated based on the correlation.

[0044] Based on the external force data and the motor position at the current moment Calculate the motor position at the next moment And the motor position data at the next moment is sent to the left driving mechanism and the right driving mechanism respectively.

[0045] In the passive training mode, the controller 3 calculates the motor position at the next moment based on the pre-set normal ankle position curve. The motor position data at the next moment is sent to the left driving mechanism and the right driving mechanism respectively. Specifically, the motor position data at the next moment includes the motor position data of the left driving mechanism and the motor position data of the right driving mechanism.

[0046] Thus, the left driving mechanism and the right driving mechanism drive the foot plate 12 to swing forward and backward or flip toward the left or flip toward the right relative to the base 11 based on the received motor position data at the next moment. Figure 2 FIG. 1 is a schematic diagram showing that the foot plate 12 swings forward and backward (leans forward) relative to the base 11. Figure 3 The schematic diagram shown is that the foot plate 12 is flipped to the left relative to the base 11 .

[0047] In a preferred embodiment, in the active training mode, the motor position at the next moment is calculated by an admittance control algorithm. The admittance algorithm is:

[0048]

[0049] The points can be obtained:

[0050]

[0051] in:

[0052] F e is the external force applied to the left motor of the left drive mechanism and the right motor of the right drive mechanism,

[0053] is the actual position x and expected position x of the sole described in the base coordinate system at time t d The actual posture x is obtained by the controller directly reading the motor, and the expected posture x d It is obtained from the ankle position curve of a normal person. for The first derivative of for The second-order derivative of K is the diagonal matrix of stiffness coefficient, B is the diagonal matrix of damping coefficient, and M is the diagonal matrix of inertia coefficient. K, B, and M are obtained from experimental data. Generally speaking, the larger the M, the greater the inertia. If it is too small, the admittance control amount will exceed the allowable range. The larger the K, the greater the stiffness. If it is too small, it will cause a large tracking error. Then, according to the desired damping ε, the value of B is further obtained. Increasing damping helps to reduce the rebound phenomenon.

[0054] In the above preferred embodiment, the motor can be controlled compliantly by the admittance control algorithm. This control method does not require a dynamic model of the robot and is particularly suitable for a servo control system that requires good position control effects.

[0055] In a more preferred embodiment, the controller 3 calculates the motor position at the next moment The chaotic interference value x is also included n The motor position at the next moment after superposition is:

[0056] Here, the chaotic interference value x n It is obtained from the following chaos formula:

[0057] h n =u*h n-1 *(1-h n-1 ) (4)

[0058] x n =A*h n (5)

[0059] Among them, h n is the chaos factor at the current moment, h n-1 is the chaos factor at the previous moment, the initial h 0 is any value between (0,1) set manually, and u is the chaos coefficient set by the trainer. Preferably, the chaos coefficient u is any value between (3.5699,4]. A is the maximum interference value set manually.

[0060] As described above, by superimposing the chaotic interference value on the motor position data at the next moment, the left driving mechanism and the right driving mechanism are respectively based on the superimposed motor position data at the next moment. When the soles of the feet are driven to move, the trainees can be closer to the real walking environment, and the walking ability of the trainees can be further enhanced. Here, the chaotic interference value can be superimposed in both the active training mode and the passive training mode.

[0061] Refer to Figure 2, the left-side driving mechanism and the right-side driving mechanism drive the foot plate 12 to swing forward and backward (tilt forward and backward) relative to the base 11 based on the motor position data received at the next moment. Specifically, the left-side driving mechanism drives the left-side motor 13 based on the motor position data received at the next moment, and the left-side connecting rod assembly 14 is driven by the left-side motor 13 to move upward. At the same time, the right-side driving mechanism drives the right-side motor 15 based on the motor position data received at the next moment, and the right-side motor 15 drives the right-side connecting rod 16 to move upward. Here, the motor position data at the next moment on the left side and the motor position data at the next moment on the right side are the same, then the left-side connecting rod assembly 14 on the left side and the right-side connecting rod 16 on the right side move synchronously, and can drive the foot plate 12 to realize the forward tilting action (rotation around the first horizontal axis) relative to the base 11. Of course, this is when the initial state of the foot plate 12 is that the left and right sides are horizontal.

[0062] Refer to Figure 3 , the left driving mechanism and the right driving mechanism drive the sole plate 12 to flip to the left relative to the base 11 based on the received motor position data at the next moment. Specifically, for example, when the initial state of the sole plate 12 is the forward tilted state, the left driving mechanism drives the left motor 13 based on the received motor position data at the next moment, and the left motor 13 drives the left connecting rod assembly 14 to move downward to the first position. At the same time, the right driving mechanism drives the right motor 15 based on the received motor position data at the next moment, and the right motor 15 drives the right connecting rod assembly 16 to remain stationary or move downward to a second position higher than the first position. Here, the motor position data at the next moment of the left side and the motor position data at the next moment of the right side are different, then the left connecting rod assembly 14 and the right connecting rod assembly 16 move asynchronously, and can drive the sole plate 12 to flip to the left relative to the base 11. Similarly, the sole plate 12 flips to the right relative to the base 11, which is not repeated here.

[0063] Refer to Figure 2-4, taking the left-side driving mechanism as an example, the connecting rod assembly is described in detail. Preferably, the left-side connecting rod assembly 14 includes a left-side rotating connecting rod 141 and a left-side lifting connecting rod 142. The first end of the left-side lifting connecting rod 142 is connected to the first end of the left-side rotating connecting rod 141 by a spherical joint via a joint bearing 143. The second end of the left-side lifting connecting rod 142 is hinged to the left-side edge of the bottom of the sole plate 11 along the first horizontal direction (left-right direction). The second end of the left-side rotating connecting rod 141 is arranged at the driving end of the left-side driving mechanism, and the left-side motor 13 drives the left-side rotating connecting rod 141 to rotate so that the left-side lifting connecting rod 142 lifts the sole plate 11 from the left side of the sole plate 11, so that the sole plate 11 can be flipped toward the right side relative to the base 10. The right-side connecting rod assembly 16 has the same structure and function as the left-side connecting rod assembly 14, which will not be repeated here.

[0064] In a preferred embodiment, the six-dimensional force sensor 2 is disposed at the bottom of the base 11 of the ankle motion simulator 1, and collects the curve of the force applied to the sole 12 of the ankle motion simulator 1 during walking, for extracting gait features. Specifically, the six-dimensional force sensor 2 sends the collected data to the controller 3, and the controller 3 is used to extract gait features based on the pressure / torque data of the six-dimensional force sensor 2 on the sole of the foot, so as to analyze the walking condition of the user, thereby providing real-time feedback and guidance, recording the user's training data, etc.

[0065] The ankle motion simulation system of the present invention cooperates with the lower limb stepping training mechanism to effectively simulate the joint movement of the ankle joint when the user performs lower limb stepping training, thereby realizing rehabilitation training for the ankle joint.

[0066] As described above, by using the ankle motion simulation system of the present invention to conduct targeted rehabilitation training on the ankle joint, the following beneficial technical effects can be obtained:

[0067] 1. Increase walking stability and relieve pain:

[0068] Ankle training can strengthen the muscles around the ankle joint. Through specific ankle joint movements, such as flexion and extension, inversion and eversion, the muscles around the ankle joint can be activated and exercised to improve their stability and control ability. Increased muscle strength helps support and protect the ankle joint and reduce pain and discomfort caused by walking.

[0069] 2. Enhance joint range of motion and flexibility:

[0070] Ankle training can improve the flexibility and range of motion of the ankle joint. Through a series of exercises and stretching, the flow of joint fluid can be promoted, lubricating the joint cartilage, thereby improving the flexibility of the ankle joint. At the same time, it can also help stretch and relax the surrounding muscles and ligaments, increase the range of motion of the ankle joint, and enable users to walk more freely and smoothly.

[0071] 3. Enhance balance ability and improve safety:

[0072] Ankle training can also help improve the user's balance ability. Balance is crucial in walking, and the stability of the ankle joint plays a key role in maintaining balance. Through training, users can learn to better control the movement of the ankle joint, improve the body's sense of balance, and reduce the risk of falling caused by unstable walking.

[0073] 4. Improve gait, enhance quality of life and self-confidence:

[0074] Ankle training is also important for improving the user's gait. By adjusting the position and movement pattern of the ankle joint, it can help users correct abnormal gait and make walking more natural and coordinated. This not only helps to reduce joint pressure and wear, but also improves walking efficiency and comfort.

[0075] To sum up, the ankle motion simulation system of the present invention can accurately and effectively train the ankle joint, and has significant effects and benefits in walking training. It can not only enhance muscle strength, improve the flexibility and range of motion of the ankle joint, but also improve balance ability and improve gait, providing comprehensive support and assistance for the user's walking training.

[0076] Obviously, those skilled in the art should realize that the above embodiments are only used to illustrate the present invention, and are not used to limit the present invention. As long as they are within the spirit of the present invention, any changes or modifications to the above embodiments will fall within the scope of the claims of the present invention.

Claims

1. An ankle movement correction system, used for rehabilitation training of ankle joints of hemiplegic patients when walking, characterized in that: Including ankle motion simulator and controller, The ankle motion simulator comprises: a base, a sole plate, a left driving mechanism and a right driving mechanism, wherein the sole plate is universally connected to the base for supporting the sole of a patient's foot, the left driving mechanism is hinged to the left edge of the bottom of the sole plate, and the right driving mechanism is hinged to the right edge of the bottom of the sole plate, and the left driving mechanism and the right driving mechanism are used to drive the sole plate to move relative to the base to drive the sole of the patient to perform ankle joint rehabilitation training, the left driving mechanism comprises a left motor and a left connecting rod assembly driven by the left motor, and the right driving mechanism comprises a right motor and a right connecting rod driven by the right motor, The controller is connected to the ankle motion simulator and includes an active training mode and a passive training mode. In active training mode, the controller performs the following steps: Reading current data of the left motor of the left driving mechanism and current data of the right motor of the right driving mechanism; The external force F applied to the left motor and the right motor is calculated according to the current data of the motor. e ; Based on the external force data and the motor position at the current moment Calculate the motor position at the next moment and sending the motor position data at the next moment to the left driving mechanism and the right driving mechanism respectively; and In the passive training mode, the controller calculates the motor position at the next moment based on the pre-set normal ankle position curve. and sending the motor position data at the next moment to the left driving mechanism and the right driving mechanism respectively, The left driving mechanism and the right driving mechanism drive the foot plate to swing forward and backward or flip toward the left or flip toward the right relative to the base based on the received motor position data at the next moment.

2. The ankle motion correction system according to claim 1, characterized in that: In the active training mode, the motor position at the next moment is calculated by an admittance control algorithm.

3. The ankle motion correction system according to claim 2, characterized in that: The admittance algorithm is: The points can be obtained: in: F e is an external force applied to the left motor of the left drive mechanism or the right motor of the right drive mechanism, That is, the actual position x and the expected position x of the sole described in the basic coordinate system at time t d The actual position x is obtained by the controller directly reading the motor, and the expected position x d It is obtained from the normal ankle position curve. for The first derivative of for The second derivative of , K is the diagonal matrix of stiffness coefficients, B is the diagonal matrix of damping coefficients, M is the diagonal matrix of inertia coefficients, K, B, and M are obtained from experimental data.

4. The ankle motion correction system according to claim 1, characterized in that: The controller calculates the motor position at the next moment The chaotic interference value x is also included n The motor position at the next moment is:

5. The ankle motion correction system according to claim 4, characterized in that: The chaotic interference value x n It is obtained from the following chaos formula: h n =u*h n-1 *(1-h n-1 ) (4) x n =A*h n (5) Among them, h n is the chaos factor at the current moment, h n-1 is the chaos factor at the previous moment, the initial h0 is an arbitrary value between (0,1) set artificially, u is the chaos coefficient, set by the trainer, and A is the maximum interference value set artificially.

6. The ankle motion correction system according to claim 5, characterized in that: The chaos coefficient u is any value between (3.5699, 4].

7. The ankle motion correction system according to claim 1, characterized in that: The motor position data at the next moment includes the motor position data of the left driving mechanism and the motor position data of the right driving mechanism.

8. The ankle motion correction system according to claim 1, characterized in that: It also includes a six-dimensional force sensor, which is arranged at the bottom of the base of the ankle motion simulator.

9. The ankle motion correction system according to claim 8, characterized in that: The six-dimensional force sensor collects a curve of the force applied to the ankle motion simulator during walking, and sends it to the controller for extracting gait features.

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