Ankle joint training device with multiple use postures and multiple training modes and control method thereof

Abstract

The invention discloses an ankle joint training device with multiple use postures and multiple training modes and a control method of the ankle joint training device, and belongs to the field of rehabilitation robots. The foot support structure and the leg support structure are respectively connected with the supporting structure; through the combined action of the supporting structure, the foot supporting structure and the leg supporting structure, ankle joint plantar flexion-dorsal extension action training, ankle joint introversion-extroversion action training and ankle joint inward rotation-outward rotation action training are achieved. Multi-use-posture operation of the device is achieved through the supporting structure. The device can be used in the sitting posture state and the prone posture state, plantar flexion-dorsal extension, introversion-extroversion, inward rotation-outward rotation and composite movement of ankle joints can be achieved in multiple training modes such as active training modes, passive training modes and teaching training modes, and multiple training modes and multiple using postures are achieved; the technical problems that in the prior art, overall composite motion of ankle joints cannot be achieved, the overall space utilization rate is low, the using posture is single, and multiple using postures and multiple training modes are not achieved are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of rehabilitation robots, and in particular relates to an ankle joint training device with multiple use postures and multiple training modes and a control method thereof. Background Art

[0002] With the continuous advancement and innovation of medical technology, ankle training devices have developed rapidly. Every year, there are a large number of ankle surgery patients and stroke patients in the world, and their demand for rehabilitation equipment continues to grow. According to market research reports, the market size of ankle trainers continues to expand and is expected to grow at a stable compound annual growth rate in the next few years. This growth is mainly due to the advancement of medical technology and the improvement of people's health awareness, which makes patients pay more and more attention to the use of physical therapy and auxiliary equipment during the rehabilitation process.

[0003] Rehabilitation robot technology is one of the core technologies of ankle rehabilitation trainers. This technology simulates the movement law of the ankle joint, designs targeted rehabilitation training movements, exercises the muscles of the lower limbs, and restores the control ability of the nervous system over the walking function, so as to achieve the purpose of restoring walking function. The rehabilitation robot has two training modes, active and passive, and can choose the appropriate training method according to the patient's muscle strength. At the same time, the high-frequency output of the robot can greatly liberate manpower, and the quantitative data can assist rehabilitation assessment and optimize the treatment plan. The design and application of the ankle rehabilitation trainer fully consider the user's adaptability and experience. The device adopts a lightweight and portable design to meet the needs of different usage scenarios. At the same time, the device also has multiple functions such as self-assisted training, active training, and resistance training, which can meet the rehabilitation needs of different patients. During use, the device can provide real-time feedback and evaluation to help patients understand their rehabilitation progress and effects. In addition, the device also has the characteristics of high safety and easy operation, providing patients with a good user experience.

[0004] Chinese patent CN113813142A discloses an ankle joint rehabilitation robot, including an affected side rehabilitation device, which is used to assist the rehabilitation movement of the affected ankle joint, and includes a first leg bracket, a first foot bracket, a first bracket, a first driving device, a second bracket, a second driving device, a third bracket and a transmission member, the transmission member is connected between the first bracket and the third bracket, the first bracket, the second bracket, the third bracket and the transmission member constitute a spatial linkage mechanism, and when the second bracket rotates on the first bracket, the third bracket can be driven to rotate on the first bracket. Although the ankle joint rehabilitation robot can realize plantar flexion-dorsiflexion and inversion-external extension of the ankle joint, it cannot realize the overall compound movement of the ankle joint; in addition, the overall space utilization rate of the ankle joint rehabilitation robot is not high, and the use posture is relatively single, and it does not have multiple use postures and multiple training modes. Summary of the invention

[0005] The purpose of the present invention is to provide an ankle joint training device with multiple use postures and multiple training modes and a control method thereof, so as to solve the technical problems existing in the prior art that the overall compound movement of the ankle joint cannot be realized, the overall space utilization rate is not high, the use posture is relatively single, and there is no multiple use postures and multiple training modes.

[0006] The technical solution adopted by the present invention to solve the technical problem is as follows:

[0007] The ankle joint training device with multiple use postures and multiple training modes provided by the present invention comprises:

[0008] Support structure;

[0009] a foot support structure and a leg support structure respectively connected to the support structure;

[0010] The support structure, the foot support structure and the leg support structure cooperate to realize the ankle joint plantar flexion-dorsiflexion movement training, the ankle joint inversion-eversion movement training, and the ankle joint internal rotation-external rotation movement training; the support structure realizes the multi-use posture operation of the device.

[0011] Furthermore, the support structure includes: a support base, a first support lower leg and a second support lower leg respectively installed on the support base, a first support upper leg connected to the first support lower leg, a second support upper leg connected to the second support lower leg, and an inward-outward rotation motor assembly respectively connected to the first support upper leg and the second support upper leg.

[0012] Furthermore, the leg support structure comprises:

[0013] A leg support fixing bracket with two ends respectively fixed to the first support upper leg and the second support upper leg;

[0014] A leg support lifting rod with a lower end fixed to the center of the upper end of the leg support fixing bracket, and a bolt groove is provided on the outer side wall of the leg support lifting rod;

[0015] A leg support plate connected to the leg support lifting rod by means of an unlocking nut and a bolt, one end of the bolt being installed in the bolt slot, and the other end of the bolt passing through the mounting hole on the leg support plate and then being tightened and fixed by means of the unlocking nut;

[0016] A soft leg support bag fixed on the inner wall of the leg support plate;

[0017] Straps attached to both sides of the leg support.

[0018] Furthermore, the inside-out motor assembly includes: a motor bracket, an inside-out motor installed at the front end center of the motor bracket, a first bracket connecting leg and a second bracket connecting leg respectively installed on both sides of the rear end of the motor bracket, the other end of the first bracket connecting leg is connected to the upper end of the second support upper leg, and the other end of the second bracket connecting leg is connected to the upper end of the first support upper leg.

[0019] Furthermore, the second supporting upper leg includes: a supporting upper leg frame connected to the first bracket connecting leg, a rotating shaft arranged at the lower end of the supporting upper leg frame, a third bearing, a fourth bearing and a fixed bearing sequentially mounted on the rotating shaft, and the fixed bearing is installed at the upper end of the second supporting lower leg.

[0020] Furthermore, the first supporting upper leg includes: a supporting upper leg frame connected to the second supporting connecting leg, a plantar flexion and dorsiextension motor installed on the upper end of the supporting upper leg frame, an adjusting rotating shaft connected to the supporting upper leg frame through a first bearing and a second bearing, an adjusting knob mounted on the adjusting rotating shaft, a first locking pressure plate and a second locking pressure plate respectively mounted on the ends of the adjusting rotating shaft, an output end of the plantar flexion and dorsiextension motor is connected to the second supporting connecting leg, and the first locking pressure plate and the second locking pressure plate are both installed on the upper end of the first supporting lower leg.

[0021] Furthermore, the footrest structure includes:

[0022] A footrest, wherein the inner side of the footrest is provided with a groove for placing the foot, and the outer side of the footrest is provided with a mounting groove for mounting an inward and outward rotating footrest connecting plate;

[0023] An inward- and outward-rotating footrest connecting plate installed in a mounting groove of the footrest;

[0024] The internal and external rotation motor fixing plate, the internal and external rotation foot support connecting plate and the foot support are integrally installed on the inner side of the internal and external rotation motor fixing plate, the internal and external rotation foot support connecting plate, the foot support, and the lower end of the internal and external rotation motor fixing plate are connected and fixed, and the internal and external rotation foot support connecting plate, the foot support, and the upper end of the internal and external rotation motor fixing plate are connected and fixed;

[0025] Inside-out motor connection seat;

[0026] An inward-inward-outward-in ...

[0027] The upper end is connected to the inward-outward rotation motor on the upper end of the inward-outward rotation motor connecting seat, and the lower end of the inward-outward rotation motor connecting plate is installed in the middle mounting hole of the inward-outward rotation motor connecting seat;

[0028] The upper end of the inward-outward motor connection lower plate is mounted in the middle mounting hole of the inward-outward motor connection seat, and the lower end of the inward-outward motor connection lower plate is sleeved on the output end of the inward-outward motor through a bearing;

[0029] The upper connecting ends of the inward and outward rotation foot support connecting plate, the foot support, and the inward and outward rotation motor fixing plate are connected to the inward and outward rotation motor connecting upper plate through a rotating shaft;

[0030] The lower connecting ends of the inward-outward rotation foot support connecting plate, the foot support, and the inward-outward rotation motor fixing plate are connected to the output end of the inward-outward rotation motor;

[0031] The output end of the inward-outward motor passes through the middle mounting hole of the inward-outward motor connecting seat and is connected to the lower end of the inward-outward motor connecting upper plate and the upper end of the inward-outward motor connecting lower plate;

[0032] Start the inward and outward rotation motor to drive the inward and outward rotation footrest connecting plate, the footrest, and the inward and outward rotation motor fixing plate to rotate inward or outward.

[0033] Furthermore, an integrated control panel is provided inside the support base, an emergency stop switch is installed on the upper end of the support base, and an instrument coupler is installed on the front end of the support base, and the emergency stop switch and the instrument coupler are respectively connected to the integrated control panel; the inversion and eversion motor in the inversion and eversion motor assembly, the plantar flexion and dorsiextension motor in the first supporting upper leg, and the internal rotation and external rotation motor in the foot support structure are all connected to the integrated control panel in the support base, and the inversion and eversion motor, the plantar flexion and dorsiextension motor, and the internal rotation and external rotation motor are controlled by the integrated control panel to work.

[0034] The control method of the ankle joint training device with multiple use postures and multiple training modes provided by the present invention comprises the following steps:

[0035] (1) Active training mode;

[0036] First, configure the motor control mode and the position direct control mode to determine whether the current is greater than the set resistance level. When the current is greater than the resistance level, continue to determine the positive and negative directions of the current. When the current direction is positive, set the position to increase in the negative direction. When the current direction is negative, set the position to increase in the positive direction. When the trainee exits the training, the training is completed. When the current is less than the resistance level, return to reconfigure the motor control mode and the position direct control mode.

[0037] (2) Passive training mode;

[0038] First, configure the motor control mode and the position trapezoidal curve control mode, set the motor limit angle to the right limit angle, detect whether the motor moves to the target position, if so, set the delay traction time, if not, return to reset the motor limit angle to the right limit angle; set the motor limit angle to the left limit angle, detect whether the motor moves to the target position, if so, set the delay traction time, if not, return to reset the motor limit angle to the left limit angle; determine whether the training time has arrived, if so, end the training, if not, reconfigure the motor control mode and the position trapezoidal curve control mode;

[0039] (3) Demonstration training mode;

[0040] (3.1) Recording trajectory method;

[0041] The two-dimensional motion trajectory of the ankle and the motion speed at each moment are stored in arrays and variables by recording the trajectory method. Every time the two-dimensional plane rotates 1 degree, a coordinate point is recorded; at the same time, the time interval between two adjacent coordinate points is recorded. When the total number of recorded coordinate points reaches 500 or the trainer stops recording manually, the motion trajectory information collection process is completed.

[0042] (3.2) Reproduction trajectory method;

[0043] The process of reproducing the motor motion trajectory is to output the position information of the motor position loop every 5 milliseconds based on the two-dimensional coordinate information array and the corresponding time interval stored by the trajectory recording method. For the recorded time interval longer than 5ms, it is necessary to perform linear interpolation on the positions corresponding to adjacent coordinate points, so as to finally record and reproduce the motion trajectory information of the trainee's ankle.

[0044] Furthermore, the motor control method in the active training mode comprises the following steps:

[0045] (1) Motor position control method;

[0046] The absolute value of the motor torque is summed with the set resistance. The output value is set to 1 when the sum value is greater than 0 through a step function, and the output value is 0 when it is less than 0. The value obtained by multiplying the motor displacement with the motor sign function is integrated to obtain the desired angle. The position PID closed-loop control is performed based on the actual angle fed back by the encoder.

[0047] (2) Motor speed control method;

[0048] The motor position loop output in step (1) is connected to the current speed through the speed limit function, and the speed is controlled by PI closed loop through the proportional and integral coefficients respectively;

[0049] (3) Motor torque control method;

[0050] The motor speed loop output in the above step (2) is connected, and the torque is limited by the torque limiting function. The current value is measured by the sampling resistor and the FOC current loop is used to control the current size, and the motor output torque is output to form the final motor active training mode control closed loop with the above step (1).

[0051] The beneficial effects of the present invention are:

[0052] 1. Multiple training modes: Compared with the existing technical solutions, the present invention designs three training modes in terms of control method: active, passive and teaching. Doctors can select training modes and set training parameters according to the trainee's own situation to better match the trainee's ankle joint activity training range. This design not only expands the user population of the device, but also allows users to customize their own training plans according to the doctor's training plan.

[0053] 2. Multiple usage postures: Compared with the existing technical solutions, the structural design of the present invention can meet the trainees' needs for a variety of combined training methods such as plantar flexion-dorsiextension, inversion-eversion, internal rotation-external rotation and compound movements of the ankle joint. The device can also be used in different postures according to the training scene, including lying and sitting postures. This not only improves the diversity and coverage of the training methods of the device (the present invention covers all the degrees of freedom of movement required for the ankle joint), but also greatly reduces the cost of the trainees purchasing the training device.

[0054] 3. Usage and space occupied: Compared with the existing technical solutions, the present invention reduces the usage space through the overall structural design, achieves fine structure and function, saves usage and space occupied, and is very convenient to assemble.

[0055] 4. Safety: Compared with the existing technical solutions, the present invention adds emergency stop control to the control method, which improves the safety of the device during operation and also provides safety protection for the trainees.

[0056] 5. Human-computer interaction: Compared with the existing technical solutions, the structural design of the present invention can adapt to the ankle widths of different people and different training methods and modes.

[0057] 6. Motor logic control method: The present invention proposes a teaching training mode, which can memorize and reproduce the movement trajectory of the patient's ankle according to the doctor's manual rehabilitation. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 This is a schematic diagram of the overall structure of an ankle joint training device with multiple usage postures and multiple training modes provided by the present invention (sitting posture).

[0059] Figure 2This is a schematic diagram of the overall structure of an ankle joint training device with multiple usage postures and multiple training modes provided by the present invention (lying position).

[0060] Figure 3 Schematic diagram of the support structure.

[0061] Figure 4 It is a schematic diagram of the structure of the inward-outward-turning bracket motor bracket.

[0062] Figure 5 It is a schematic diagram of the structure of the first support upper leg and the second support upper leg.

[0063] Figure 6 A cross-sectional view showing the connection between the first support upper leg, the support base, the first support lower leg, the second support lower leg and the second support upper leg.

[0064] Figure 7 A schematic diagram of the footrest structure.

[0065] Figure 8 A schematic diagram of the leg support structure.

[0066] Fig. 9 This is a flow chart of the control method in active training mode.

[0067] Fig.10 This is a flow chart of the motor control method in active training mode.

[0068] Fig.11 This is a flow chart of the control method in passive training mode. DETAILED DESCRIPTION

[0069] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0070] In a first aspect, the present invention provides an ankle joint training device with multiple usage postures and multiple training modes.

[0071] The present invention provides an ankle joint training device with multiple use postures and multiple training modes, which can be used in both sitting and lying positions, and can achieve plantar flexion-dorsiflexion, inversion-eversion, internal rotation-external rotation and compound movements of the ankle joint in multiple training modes such as active, passive and teaching.

[0072] like Figures 1 to 8 As shown, the present invention provides an ankle joint training device with multiple use postures and multiple training modes, which includes the following components:

[0073] Support structure 1, foot support structure 2 and leg support structure 3. The foot support structure 2 is connected to the support structure 1, and the leg support structure 3 is connected to the support structure 1.

[0074] In the present invention, Figure 3As shown, the support structure 1 mainly includes: an inward-outward motor assembly 1.1, a first support upper leg 1.2, a support base 1.3, a first support lower leg 1.4, a second support lower leg 1.5 and a second support upper leg 1.6; the first support lower leg 1.4 and the second support lower leg 1.5 are respectively installed on the support base 1.3, the first support upper leg 1.2 is connected to the first support lower leg 1.4, the second support lower leg 1.5 is connected to the second support upper leg 1.6, and the inward-outward motor assembly 1.1 is respectively connected to the first support upper leg 1.2 and the second support upper leg 1.6.

[0075] Among them, Figure 4 As shown, the inside-out motor assembly 1.1 mainly includes: an inside-out motor 1.1.1, a motor bracket 1.1.2, a first bracket connecting leg 1.1.3 and a second bracket connecting leg 1.1.4; the inside-out motor 1.1.1 is fixedly installed at the front center of the motor bracket 1.1.2, and the first bracket connecting leg 1.1.3 and the second bracket connecting leg 1.1.4 are respectively installed on both sides of the rear end of the motor bracket 1.1.2. The other end of the first bracket connecting leg 1.1.3 is connected to the upper end of the second support upper leg 1.6, and the other end of the second bracket connecting leg 1.1.4 is connected to the upper end of the first support upper leg 1.2.

[0076] Among them, Figure 5 and Figure 6 As shown, the first supporting upper leg 1.2 mainly includes: an adjustment knob 1.2.1, a plantar flexion and dorsiextension motor 1.2.2, a supporting upper leg frame 1.2.3, a first locking pressure plate 1.2.4, a first bearing 1.2.5, a second bearing 1.2.6, an adjustment rotating shaft 1.2.7 and a second locking pressure plate 1.2.8; the upper end of the supporting upper leg frame 1.2.3 is connected to the second bracket connecting leg 1.1.4 in the inversion and eversion motor assembly 1.1, and the plantar flexion and dorsiextension motor 1.2.2 is fixedly installed on the upper end of the supporting upper leg frame 1.2.3, and the output end of the plantar flexion and dorsiextension motor 1.2.2 is connected to the second bracket connecting leg 1.1.4 in the inversion and eversion motor assembly 1.1. Connection; the adjusting knob 1.2.1 is installed at the lower end of the supporting upper leg frame 1.2.3, specifically, the adjusting knob 1.2.1 is mounted on the adjusting rotating shaft 1.2.7, the middle section of the adjusting rotating shaft 1.2.7 is mounted with the first bearing 1.2.5 and the second bearing 1.2.6, the outer rings of the first bearing 1.2.5 and the second bearing 1.2.6 are fixed on the inner wall of the supporting upper leg frame 1.2.3, the first locking pressure plate 1.2.4 and the second locking pressure plate 1.2.8 are respectively mounted on the ends of the adjusting rotating shaft 1.2.7, the first locking pressure plate 1.2.4 and the second locking pressure plate 1.2.8 are both mounted on the upper end of the first supporting lower leg 1.4 in the supporting structure 1.

[0077] Among them, Figure 5 and Figure 6As shown, the second support upper leg 1.6 mainly includes: a support upper leg frame 1.6.1, a third bearing 1.6.2, a fourth bearing 1.6.3, a fixed bearing 1.6.4 and a rotating shaft 1.6.5; the upper end of the support upper leg frame 1.6.1 is connected to the first bracket connecting leg 1.1.3 in the inverted and outverted motor assembly 1.1, and the lower end of the support upper leg frame 1.6.1 is provided with a rotating shaft 1.6.5, and the third bearing 1.6.2, the fourth bearing 1.6.3 and the fixed bearing 1.6.4 are sequentially mounted on the rotating shaft 1.6.5, and the fixed bearing 1.6.4 is installed on the upper end of the second support lower leg 1.5 in the support structure 1, thereby connecting the lower end of the second support upper leg 1.6 with the upper end of the second support lower leg 1.5 through the fixed bearing 1.6.4.

[0078] Among them, Figure 3 and Figure 6 As shown, the support base 1.3 mainly includes: an integrated control panel 1.3.1, an emergency stop switch 1.3.2 and an appliance coupler 1.3.3; the integrated control panel 1.3.1 is arranged inside the support base 1.3, and the emergency stop switch 1.3.2 and the appliance coupler 1.3.3 are installed outside the support base 1.3, wherein the emergency stop switch 1.3.2 is installed on the upper surface of the support base 1.3, and the appliance coupler 1.3.3 is installed on the front surface of the support base 1.3, and the emergency stop switch 1.3.2 and the appliance coupler 1.3.3 are respectively connected to the integrated control panel 1.3.1. The first support lower leg 1.4 and the second support lower leg 1.5 are respectively installed on the upper surface of the support base 1.3. The function of the emergency stop switch 1.3.2 is that when the trainee encounters an emergency, pressing the emergency stop button 1.3.2 can realize power off and stop working of the device, and the appliance coupler 1.3.3 is mainly used to connect an external 220V power cord.

[0079] In the present invention, the inversion and eversion motor 1.1.1 in the inversion and eversion motor assembly 1.1, the plantar flexion and dorsiextension motor 1.2.2 in the first supporting upper leg 1.2, and the internal rotation and external rotation motor 2.3 in the foot support structure 2 are all connected to the integrated control board 1.3.1 in the supporting base 1.3, and the inversion and eversion motor 1.1.1, the plantar flexion and dorsiextension motor 1.2.2, and the internal rotation and external rotation motor 2.3 are controlled by the integrated control board 1.3.1 to work.

[0080] In the present invention, Figure 7As shown, the footrest structure 2 mainly includes: an inward and outward rotation motor connecting seat 2.1, an inward and outward rotation motor connecting upper plate 2.2, an inward and outward rotation motor 2.3, an inward and outward rotation motor connecting lower plate 2.4, an inward and outward rotation motor fixing plate 2.5, an inward and outward rotation footrest connecting plate 2.6 and a footrest 2.7; the inner side of the footrest 2.7 is provided with a groove 2.7.2 for placing the foot, and the outer side of the footrest 2.7 is provided with a mounting plate for installing the inward and outward rotation footrest connecting plate 2.6 The inner and outer rotation foot support connecting plate 2.6 is installed in the installation groove 2.7.1 of the foot support 2.7, and the inner and outer rotation foot support connecting plate 2.6 and the foot support 2.7 are installed as a whole on the inner side of the inner and outer rotation motor fixing plate 2.5, wherein the inner and outer rotation foot support connecting plate 2.6, the foot support 2.7, and the lower ends of the inner and outer rotation motor fixing plate 2.5 are connected and fixed, and the inner and outer rotation foot support connecting plate 2.6, the foot support 2.7, and the inner and outer rotation motor fixing plate 2 .5 upper end is connected and fixed; the upper end of the inward-outward rotation motor connection upper plate 2.2 is fixed to the upper end of the inward-outward rotation motor connection seat 2.1, and the lower end of the inward-outward rotation motor connection upper plate 2.2 is installed in the mounting hole in the middle of the inward-outward rotation motor connection seat 2.1; the lower end of the inward-outward rotation motor connection lower plate 2.4 is sleeved on the output end of the inward-outward rotation motor 2.3 through a bearing, and the upper end of the inward-outward rotation motor connection lower plate 2.4 is installed in the mounting hole in the middle of the inward-outward rotation motor connection seat 2.1. The mounting holes are in the inner and outer rotation footrest connecting plate 2.6, the footrest 2.7, and the upper connecting ends of the inner and outer rotation motor fixing plate 2.5 are connected to the inner and outer rotation motor connecting upper plate 2.2 through a rotating shaft; the housing of the inner and outer rotation motor 2.3 is fixed to the lower end of the inner and outer rotation motor connecting seat 2.1, and at the same time, the output end of the inner and outer rotation motor 2.3 is fixedly connected to the lower connecting ends of the inner and outer rotation footrest connecting plate 2.6, the footrest 2.7, and the inner and outer rotation motor fixing plate 2.5. Among them, the output end of the inner and outer rotation motor 1.1.1 in the inner and outer rotation motor assembly 1.1 passes through the mounting hole of the inner and outer rotation motor connecting seat 2.1 and is connected to the lower end of the inner and outer rotation motor connecting upper plate 2.2 and the upper end of the inner and outer rotation motor connecting lower plate 2.4. Starting the internal and external rotation motor 2.3 can drive the internal and external rotation footrest connecting plate 2.6, the footrest 2.7, and the internal and external rotation motor fixing plate 2.5 to rotate inwards or outwards, thereby driving the ankle joint to rotate inwards or outwards.

[0081] In the present invention, Figure 1 and Figure 8As shown, the leg support structure 3 mainly includes: a leg support fixing bracket 3.1, a leg support lifting rod 3.2, an unlocking nut 3.3, a leg support support plate 3.4, a leg support soft bag 3.5 and a strap 3.6; the leg support fixing bracket 3.1 is U-shaped, and the two ends of the U-shape of the leg support fixing bracket 3.1 are respectively fixed on the first support upper leg 1.2 and the second support upper leg 1.6 in the support structure 1; the lower end of the leg support lifting rod 3.2 is fixed to the center of the U-shaped upper end of the leg support fixing bracket 3.1; the outer side wall of the leg support lifting rod 3.2 is provided with a bolt groove 3.2.1; the leg support support plate 3.4 is arc-shaped as a whole, and its outer wall is connected to the leg support lifting rod 3.2 by an unlocking nut 3.3 and a bolt. Specifically, one end of the bolt is installed in the bolt groove 3.2.1, and the other end of the bolt passes through the mounting hole on the leg support support plate 3.4 and is tightened and fixed by the unlocking nut 3.3. The leg support soft bag 3.5 is arc-shaped as a whole, and its outer wall is fixed on the inner wall of the leg support support plate 3.4, and the straps 3.6 are fixed on both sides of the leg support soft bag 3.5. Among them, the position of the leg support support plate 3.4 on the leg support lifting rod 3.2 can be unlocked and adjusted by screwing the unlocking nut 3.3. Specifically, the leg support support plate 3.4 can be loosened when the unlocking nut 3.3 is screwed to the right, and the bolt together with the leg support support plate 3.4 is moved up and down along the bolt groove 3.2.1 of the leg support lifting rod 3.2 to adjust the position of the leg support support plate 3.4 on the leg support lifting rod 3.2. When adjusted to a suitable position, the unlocking nut 3.3 is screwed to the left to lock the leg support plate 3.4, so that the leg support plate 3.4 is fixed. The trainee can put the back of the calf on the leg support soft bag 3.5 and tie it up and fix it with the straps 3.6. The structural design of the present invention can adapt to the ankle width of different people and different training methods and modes.

[0082] The present invention provides an ankle joint training device with multiple use postures and multiple training modes, and its specific functions are as follows:

[0083] 1. Ankle plantar flexion-dorsiflexion training;

[0084] The trainee places the back of the calf on the leg support soft bag 3.5, and fixes it with the strap 3.6, and places the foot in the groove 2.7.2 on the inner side of the foot support 2.7; the plantar flexion and dorsiextension motor 1.2.2 is started, and the foot support structure 2 is driven to move by the inversion and eversion motor assembly 1.1, wherein the plantar flexion and dorsiextension motor 1.2.2 is controlled to rotate forward to achieve plantar flexion of the ankle joint, and the plantar flexion and dorsiextension motor 1.2.2 is controlled to rotate reversely to achieve dorsiextension of the ankle joint, thereby completing the plantar flexion-dorsiextension movement training of the ankle joint.

[0085] 2. Ankle joint inversion-eversion training;

[0086] The trainee places the back of the calf on the leg support soft bag 3.5, and fixes it with the strap 3.6, and places the foot in the groove 2.7.2 on the inner side of the foot support 2.7; starts the inversion and eversion motor 1.1.1 to drive the foot support structure 2 to move, wherein, controlling the inversion and eversion motor 1.1.1 to rotate forward can achieve inversion of the ankle joint, and controlling the inversion and eversion motor 1.1.1 to rotate reversely can achieve eversion of the ankle joint, thereby completing the inversion-eversion movement training of the ankle joint.

[0087] 3. Ankle joint internal rotation and external rotation training;

[0088] The trainee places the back of the calf on the leg support soft bag 3.5, and binds and fixes it with the strap 3.6, and places the foot in the groove 2.7.2 on the inner side of the foot support 2.7; starting the internal rotation and external rotation motor 2.3 can drive the internal rotation and external rotation foot support connecting plate 2.6, the foot support 2.7, and the internal rotation and external rotation motor fixing plate 2.5 to rotate inward or outward, thereby driving the ankle joint to rotate inward or outward, wherein, controlling the internal rotation and external rotation motor 2.3 to rotate forward can achieve internal rotation of the ankle joint, and controlling the internal rotation and external rotation motor 2.3 to rotate reversely can achieve external rotation of the ankle joint, thereby completing the internal rotation and external rotation movement training of the ankle joint.

[0089] 4. Use gesture operation more often;

[0090] The first supporting upper leg 1.2 is connected to the first supporting lower leg 1.4 through the first locking pressure plate 1.2.4, the first bearing 1.2.5, the second bearing 1.2.6, the adjusting rotating shaft 1.2.7 and the second locking pressure plate 1.2.8; the second supporting upper leg 1.6 is connected to the second supporting lower leg 1.5 through the third bearing 1.6.2, the fourth bearing 1.6.3 and the fixed bearing 1.6.4; the first locking pressure plate 1.2.4 and the second locking pressure plate 1.2.8 can be separated by rotating the adjusting knob 1.2.1 clockwise, and at this time, the lying position ( Figure 2 ) and sitting posture( Figure 1 ) switch; counterclockwise rotating the adjustment knob 1.2.1 can compress the first locking pressure plate 1.2.4 and the second locking pressure plate 1.2.8, thereby fixing the current posture.

[0091] like Figure 1 As shown, when the ankle joint training device with multiple use postures and multiple training modes of the present invention is in a sitting state, the trainee performs functional training in a sitting position.

[0092] like Figure 2 As shown, when the ankle joint training device with multiple use postures and multiple training modes of the present invention is in a lying state, the trainee performs functional training in the lying state.

[0093] In a second aspect, the present invention provides a control method for an ankle joint training device with multiple use postures and multiple training modes.

[0094] Through the control method of the ankle joint training device with multiple use postures and multiple training modes of the present invention, the ankle joint training device can be controlled to realize ankle joint plantar flexion-dorsiflexion movement training, inversion-eversion movement training and internal rotation-external rotation movement training in multiple training modes such as active, passive, and teaching.

[0095] The present invention provides a control method for an ankle joint training device with multiple use postures and multiple training modes, and the specific implementation process is as follows:

[0096] 1. Active training mode;

[0097] Trainees can perform ankle weight training in active training mode.

[0098] The motor control method in active training mode is mainly divided into three steps to form a control closed loop: Fig. 9 As shown, first configure the motor control mode and the position direct control mode, determine whether the current is greater than the set resistance level, and when the current is greater than the resistance level, continue to determine the positive and negative directions of the current. When the current direction is positive, set the position to increase in the negative direction, and when the current direction is negative, set the position to increase in the positive direction; when the trainee exits the training, the training is completed; when the current is less than the resistance level, return to reconfigure the motor control mode and the position direct control mode. Fig.10 As shown, the specific implementation process is as follows:

[0099] (1) Motor position control method;

[0100] The absolute value of the motor output torque is summed with the set resistance. The step function is used to set the output value to 1 when the sum value is greater than 0, and the output value is 0 when it is less than 0. The value obtained by multiplying the motor displacement with the motor sign function (used to identify the current direction) is integrated to obtain the desired angle. The position PID closed-loop control is performed using the actual angle fed back by the encoder.

[0101] (2) Motor speed control method;

[0102] The motor position loop output in the above step (1) is connected to the speed limit function and the current speed, and the speed is controlled by PI closed loop through the proportional and integral coefficients respectively.

[0103] (3) Motor torque control method;

[0104] The motor speed loop output in the above step (2) is connected, and the torque is limited by the torque limiting function. The current value is measured by the sampling resistor and the FOC current loop is used to control the current size, and the motor output torque is output to form the final motor active training mode control closed loop with the above step (1).

[0105] 2. Passive training mode;

[0106] In the passive training mode, the trainee can be driven by the ankle joint training device to perform passive ankle joint training. Fig.11 As shown, the passive training resistance mode is realized by changing the motor's own damping. The specific implementation process is as follows:

[0107] First, configure the motor control mode and the position trapezoidal curve control mode, set the motor limit angle to the right limit angle, and detect whether the motor moves to the target position. If so, set the delayed traction time, if not, return to reset the motor limit angle to the right limit angle; set the motor limit angle to the left limit angle, and detect whether the motor moves to the target position. If so, set the delayed traction time, if not, return to reset the motor limit angle to the left limit angle; determine whether the training time has arrived, if so, end the training, if not, reconfigure the motor control mode and the position trapezoidal curve control mode.

[0108] 3. Demonstration training mode;

[0109] The ankle joint training device with multiple use postures and multiple training modes provided by the present invention can manually memorize and reproduce the movement trajectory according to the movement trajectory of the trainer's ankle, and assist the trainer in ankle joint training. It is mainly divided into two steps to record the movement trajectory of the trainer's ankle and reproduce the trajectory.

[0110] (1) Track recording method;

[0111] The trajectory recording method can be used to store the two-dimensional motion trajectory of the ankle and the motion speed at each moment in arrays and variables. Every time the two-dimensional plane rotates 1 degree, a coordinate point is recorded; at the same time, the time interval between two adjacent coordinate points is recorded. When the total number of recorded coordinate points reaches 500 or the trainer manually stops recording, the motion trajectory information collection process is completed.

[0112] (2) Trajectory Reproduction Method;

[0113] The process of reproducing the motor motion trajectory is to output the position information of the motor position loop every 5 milliseconds based on the two-dimensional coordinate information array and the corresponding time interval stored by the trajectory recording method. For the recorded time interval longer than 5ms, it is necessary to perform linear interpolation on the positions corresponding to adjacent coordinate points. Finally, it is possible to record and reproduce the motion trajectory information of the trainee's ankle under the limited RAM resources of the microcontroller.

[0114] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An ankle joint training device with multiple postures and multiple training modes, characterized in that: include: Support structure; a foot support structure and a leg support structure respectively connected to the support structure; The support structure, the foot support structure and the leg support structure cooperate to realize the ankle joint plantar flexion-dorsiflexion movement training, the ankle joint inversion-eversion movement training, and the ankle joint internal rotation-external rotation movement training; the support structure realizes the multi-use posture operation of the device.

2. The ankle joint training device with multiple use postures and multiple training modes according to claim 1, characterized in that: The support structure includes: a support base, a first support lower leg and a second support lower leg respectively installed on the support base, a first support upper leg connected to the first support lower leg, a second support upper leg connected to the second support lower leg, and an inward-outward rotation motor assembly respectively connected to the first support upper leg and the second support upper leg.

3. The ankle joint training device with multiple use postures and multiple training modes according to claim 2, characterized in that: The leg support structure comprises: A leg support fixing bracket with two ends respectively fixed to the first support upper leg and the second support upper leg; A leg support lifting rod with a lower end fixed to the center of the upper end of the leg support fixing bracket, and a bolt groove is provided on the outer side wall of the leg support lifting rod; A leg support plate connected to the leg support lifting rod by means of an unlocking nut and a bolt, one end of the bolt being installed in the bolt slot, and the other end of the bolt passing through the mounting hole on the leg support plate and then being tightened and fixed by means of the unlocking nut; A leg support soft bag fixed on the inner wall of the leg support support plate; Straps attached to both sides of the leg support.

4. The ankle joint training device with multiple use postures and multiple training modes according to claim 2, characterized in that: The inside-out motor assembly includes: a motor bracket, an inside-out motor installed at the front end center of the motor bracket, a first bracket connecting leg and a second bracket connecting leg respectively installed on both sides of the rear end of the motor bracket, the other end of the first bracket connecting leg is connected to the upper end of the second support upper leg, and the other end of the second bracket connecting leg is connected to the upper end of the first support upper leg.

5. The ankle joint training device with multiple use postures and multiple training modes according to claim 4, characterized in that: The second supporting upper leg includes: a supporting upper leg frame connected to the first bracket connecting leg, a rotating shaft arranged at the lower end of the supporting upper leg frame, a third bearing, a fourth bearing and a fixed bearing sequentially mounted on the rotating shaft, and the fixed bearing is installed at the upper end of the second supporting lower leg.

6. The ankle joint training device with multiple use postures and multiple training modes according to claim 4, characterized in that: The first supporting upper leg includes: a supporting upper leg frame connected to the second supporting connecting leg, a plantar flexion and dorsiextension motor installed on the upper end of the supporting upper leg frame, an adjusting rotating shaft connected to the supporting upper leg frame through a first bearing and a second bearing, an adjusting knob mounted on the adjusting rotating shaft, and a first locking pressure plate and a second locking pressure plate respectively mounted on the ends of the adjusting rotating shaft, an output end of the plantar flexion and dorsiextension motor is connected to the second supporting connecting leg, and the first locking pressure plate and the second locking pressure plate are both installed on the upper end of the first supporting lower leg.

7. The ankle joint training device with multiple use postures and multiple training modes according to claim 6, characterized in that: The foot support structure comprises: A footrest, wherein the inner side of the footrest is provided with a groove for placing the foot, and the outer side of the footrest is provided with a mounting groove for mounting an inward and outward rotating footrest connecting plate; An inward- and outward-rotating footrest connecting plate installed in a mounting groove of the footrest; The internal and external rotation motor fixing plate, the internal and external rotation foot support connecting plate and the foot support are integrally installed on the inner side of the internal and external rotation motor fixing plate, the internal and external rotation foot support connecting plate, the foot support, and the lower end of the internal and external rotation motor fixing plate are connected and fixed, and the internal and external rotation foot support connecting plate, the foot support, and the upper end of the internal and external rotation motor fixing plate are connected and fixed; Inside-out motor connection seat; An inward-inward-outward-in ... The upper end is connected to the inward-outward rotation motor on the upper end of the inward-outward rotation motor connecting seat, and the lower end of the inward-outward rotation motor connecting plate is installed in the middle mounting hole of the inward-outward rotation motor connecting seat; The upper end of the inward-outward motor connection lower plate is mounted in the middle mounting hole of the inward-outward motor connection seat, and the lower end of the inward-outward motor connection lower plate is sleeved on the output end of the inward-outward motor through a bearing; The upper connecting ends of the inward-outward rotation foot support connecting plate, the foot support, and the inward-outward rotation motor fixing plate are connected to the inward-outward rotation motor connecting upper plate through a rotating shaft; The lower connecting ends of the inward-outward rotation foot support connecting plate, the foot support, and the inward-outward rotation motor fixing plate are connected to the output end of the inward-outward rotation motor; The output end of the inward-outward motor passes through the middle mounting hole of the inward-outward motor connecting seat and is connected to the lower end of the inward-outward motor connecting upper plate and the upper end of the inward-outward motor connecting lower plate; Start the inward and outward rotation motor to drive the inward and outward rotation footrest connecting plate, the footrest, and the inward and outward rotation motor fixing plate to rotate inward or outward.

8. The ankle joint training device with multiple use postures and multiple training modes according to claim 7, characterized in that: An integrated control board is arranged inside the support base, an emergency stop switch is installed on the upper end of the support base, and an instrument coupler is installed on the front end of the support base, and the emergency stop switch and the instrument coupler are respectively connected to the integrated control board; the inversion and eversion motor in the inversion and eversion motor assembly, the plantar flexion and dorsiextension motor in the first supporting upper leg, and the internal rotation and external rotation motor in the foot support structure are all connected to the integrated control board in the support base, and the inversion and eversion motor, the plantar flexion and dorsiextension motor, and the internal rotation and external rotation motor are controlled by the integrated control board to work.

9. The control method of the ankle joint training device with multiple use postures and multiple training modes according to any one of claims 1 to 8, characterized in that: The following steps are involved: (1) Active training mode; First, configure the motor control mode and the position direct control mode to determine whether the current is greater than the set resistance level. When the current is greater than the resistance level, continue to determine the positive and negative directions of the current. When the current direction is positive, set the position to increase in the negative direction. When the current direction is negative, set the position to increase in the positive direction. When the trainee exits the training, the training is completed. When the current is less than the resistance level, return to reconfigure the motor control mode and the position direct control mode. (2) Passive training mode; First, configure the motor control mode and the position trapezoidal curve control mode, set the motor limit angle to the right limit angle, detect whether the motor moves to the target position, if so, set the delay traction time, if not, return to reset the motor limit angle to the right limit angle; set the motor limit angle to the left limit angle, detect whether the motor moves to the target position, if so, set the delay traction time, if not, return to reset the motor limit angle to the left limit angle; determine whether the training time has arrived, if so, end the training, if not, reconfigure the motor control mode and the position trapezoidal curve control mode; (3) Demonstration training mode; (3.1) Recording trajectory method; The two-dimensional motion trajectory of the ankle and the motion speed at each moment are stored in arrays and variables by recording the trajectory method. Every time the two-dimensional plane rotates 1 degree, a coordinate point is recorded; at the same time, the time interval between two adjacent coordinate points is recorded. When the total number of recorded coordinate points reaches 500 or the trainer stops recording manually, the motion trajectory information collection process is completed. (3.2) Reproduction trajectory method; The process of reproducing the motor motion trajectory is to output the position information of the motor position loop every 5 milliseconds based on the two-dimensional coordinate information array and the corresponding time interval stored by the trajectory recording method. For the recorded time interval longer than 5ms, it is necessary to perform linear interpolation on the positions corresponding to adjacent coordinate points, so as to finally record and reproduce the motion trajectory information of the trainee's ankle.

10. The control method of the ankle joint training device with multiple use postures and multiple training modes according to claim 9, characterized in that: The motor control method in the active training mode comprises the following steps: (1) Motor position control method; The absolute value of the motor torque is summed with the set resistance. The output value is set to 1 when the sum value is greater than 0 through a step function, and the output value is 0 when it is less than 0. The value obtained by multiplying the motor displacement with the motor sign function is integrated to obtain the desired angle. The position PID closed-loop control is performed based on the actual angle fed back by the encoder. (2) Motor speed control method; The motor position loop output in step (1) is connected to the current speed through the speed limit function, and the speed is controlled by PI closed loop through the proportional and integral coefficients respectively; (3) Motor torque control method; The motor speed loop output in the above step (2) is connected, and the torque is limited by the torque limiting function. The current value is measured by the sampling resistor and the FOC current loop is used to control the current size, and the motor output torque is output to form the final motor active training mode control closed loop with the above step (1).

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