A flexible adaptive ankle joint active and passive rehabilitation training device

Abstract

This invention discloses a flexible adaptive ankle joint active and passive rehabilitation training device, comprising a first motor assembly, a spring assembly, a second motor assembly, and a third motor assembly. A grooved base and the first motor are fixedly connected by screws, and the output end of the first motor is securely connected to the spring assembly. The spring assembly is connected to a foot plate via a tension spring, a universal joint, a grooved ball joint, and the foot plate. The foot plate is connected to the second motor assembly via a first Z-shaped connecting rod. The second motor assembly is connected to the third motor assembly via a first T-shaped motor fixing assembly, a second U-shaped connecting rod, and a bearing. This invention enables active and passive rehabilitation training of the ankle joint in three degrees of freedom: adduction / abduction, dorsiflexion / plantarflexion, and inversion / eversion. The mechanical limiting design effectively ensures the safety of rehabilitation training, reduces the risk of secondary injury, and alleviates the workload of medical staff.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation medical devices, and in particular to a flexible adaptive ankle joint active and passive rehabilitation training device. Background Technology

[0002] With the accelerating aging of the population, limb dysfunction caused by stroke is becoming increasingly serious, with ankle dysfunction being a key focus of rehabilitation due to its direct impact on core daily living abilities such as walking and balance. While traditional physical rehabilitation therapy can promote functional recovery through the principle of neuroplasticity, its reliance on therapist-assisted training throughout the process presents the dual challenges of high labor costs and low efficiency. Traditional rehabilitation training methods not only demand high levels of professional skills and physical strength from therapists but also lead to inefficient allocation of rehabilitation resources, failing to meet the growing rehabilitation needs. Rehabilitation training devices have emerged as a solution and are gradually becoming an important option in the field of rehabilitation physiotherapy. These devices can effectively promote the remodeling of the patient's nervous system and improve limb motor function, thus providing strong support for the patient's physical recovery. At the same time, the widespread application of rehabilitation training devices can significantly reduce the human and material costs in the rehabilitation process, improve rehabilitation efficiency, and make rehabilitation training more convenient and efficient. More importantly, when rehabilitation training devices are combined with scientifically sound training methods, they can provide patients with more personalized and precise rehabilitation plans, helping them recover physical function more quickly and return to normal life sooner.

[0003] Existing ankle rehabilitation training devices are only suitable for a single rehabilitation stage (such as pre-, mid-, and late-stage), lacking the ability to cover the entire rehabilitation cycle. This leads to patients needing to frequently change equipment during rehabilitation, reducing not only rehabilitation efficiency but also increasing their financial burden. Furthermore, some devices have a simplistic design, making it difficult to perform complex rehabilitation movements and failing to meet the diverse needs of different rehabilitation stages. In extreme cases, insufficient device functionality or improper operation may even cause secondary injury to the patient. Besides functional limitations, some ankle rehabilitation training devices are also bulky and heavy. These devices are typically only usable in medical settings, limiting their application scenarios and failing to meet the needs of home rehabilitation.

[0004] Therefore, given the limitations of existing rehabilitation training equipment in terms of portability, adaptability, and personalization, there is an urgent need to design a flexible, adaptive active and passive ankle joint rehabilitation training device. This device should have a compact size and lightweight structure, making it easy to carry and use. It should be suitable not only for hospital environments but also for providing convenient rehabilitation support to patients in homes, communities, and nursing homes. Furthermore, the device should precisely conform to the patient's lower leg and foot, accurately simulating the natural kinematic characteristics of the ankle joint, providing a scientific and effective rehabilitation training program. This will not only effectively prevent secondary injuries to patients during rehabilitation but also ensure safety and comfort. Simultaneously, the device should possess active and passive rehabilitation training functions to meet the rehabilitation needs at different stages. Through this innovative design, the device is expected to provide a more efficient, convenient, and humane rehabilitation experience for patients with ankle injuries, promoting the development of rehabilitation medical devices towards intelligence and portability. Summary of the Invention

[0005] This invention aims to propose a flexible, adaptive active and passive ankle joint rehabilitation training device. While ensuring patient safety during rehabilitation training, this device comprehensively optimizes existing equipment to address issues such as insufficient flexibility, poor portability, limited training freedom, inadequate stability, and the inability to simultaneously perform active and passive training, thereby helping patients recover ankle joint function more efficiently.

[0006] The problem to be solved by this invention is achieved by the following technical solution: a flexible adaptive ankle joint active and passive rehabilitation training device, which is symmetrical about the sagittal plane and includes a first motor assembly, a spring assembly, a second motor assembly, and a third motor assembly. A grooved base and the bottom of the first motor are fixedly connected by screws; the output end of the first motor is fastened to the spring assembly; the spring assembly is connected to a foot plate via a tension spring, a universal joint, a grooved ball joint, and the foot plate is connected to the second motor assembly via a first Z-shaped connecting rod; the second motor assembly is connected to the third motor assembly via a first T-shaped motor fixing assembly, a second U-shaped connecting rod, and a bearing; the third motor assembly is securely connected to the first motor assembly via the first U-shaped connecting rod.

[0007] The first motor assembly mainly includes a first motor, a grooved base, a guide limiting groove, a first U-shaped connecting rod, an inward and outward limiting pin, and a spring fixing assembly. The first motor is fixedly installed on the grooved base, and the guide limiting groove is carved into the grooved base for the inward and outward limiting pin to slide and limit its movement. The first U-shaped connecting rod is connected to the output end of the first motor and is equipped with the inward and outward limiting pin for precise control of the range of motion. The bottom surface of the spring assembly is fixedly connected to the first U-shaped connecting rod, providing cushioning and stability. When the output shaft of the first motor transmits power, it can drive the patient's lower leg and ankle to move left and right, thereby assisting the patient's ankle joint in completing inward and outward movements. The grooved base not only supports the entire rehabilitation robot but also serves to fix the first motor.

[0008] The spring assembly consists of three tension springs, three compression springs, and a universal joint. The upper end of each tension spring is connected to the footplate, and the lower end is connected to a spring fixing assembly on the output shaft of the first motor assembly. The compression springs are mounted on a fixed rod; when the fixed rod is compressed into a fixing groove, the compression springs are also compressed. The upper end of the universal joint is connected to a universal joint fixing assembly below the footplate, and the lower end is connected to a universal rod, which is connected to the spring fixing assembly. When the patient's ankle is placed on the footplate, the footplate will tilt to varying degrees due to uneven pressure from the foot. At this time, the compression force of the compression springs and the tension force of the tension springs interact, and through the adjustment of the universal joint, the footplate quickly returns to a balanced state.

[0009] The second motor assembly consists of a second motor, a first Z-shaped connecting rod connected to the output end of the second motor, a foot plate, a D-shaped ring on the foot plate, and a bandage; the output shaft of the second motor transmits power, driving the first Z-shaped connecting rod to drive the foot plate to perform inversion and eversion movements of the ankle.

[0010] The third motor assembly includes a third motor, a second U-shaped connecting rod connected to the output end of the third motor, a bearing connected to the second U-shaped connecting rod, and a third motor fixing assembly. The output end of the third motor is connected to the left end of the second U-shaped connecting rod, the right end of the second U-shaped connecting rod is connected to the bearing, and a right-side support assembly is connected through the bearing. The first T-shaped motor fixing assembly is connected in the middle of the second U-shaped connecting rod. The output shaft of the third motor transmits power, driving the left side of the second U-shaped connecting rod, while the right side passively drives the bearing to perform dorsiflexion and plantarflexion movements of the ankle.

[0011] The present invention achieves the following technical effects compared to the prior art:

[0012] 1. Through the spring assembly, the patient's ankle joint can undergo a natural adaptation process when placed on the sole of the foot. When the ankle joint is placed on the sole of the foot, it will tilt to varying degrees due to uneven contact angle or pressure distribution. At this time, the tension of the tension spring and the pressure of the compression spring interact to automatically adjust the posture of the sole of the foot, restoring it to the initial balance state, thereby providing the patient with stable support and a comfortable rehabilitation experience.

[0013] 2. When the rehabilitation device guides the patient to perform rehabilitation movements, it can not only achieve single-degree-of-freedom rehabilitation training, but also complete multi-degree-of-freedom collaborative rehabilitation training. At the same time, the device supports both passive and active training modes, which can meet the diverse training needs of different rehabilitation stages.

[0014] 3. Each degree of freedom has a limiting device. The inward and abduction are equipped with limiting pins, and the dorsiflexion and plantarflexion, as well as the inversion and eversion, are also equipped with mechanical limiting devices on both sides of the output shaft. The mechanical limiting device in this invention can effectively prevent secondary injury to the ankle joint. Attached Figure Description

[0015] Figure 1 This is a first-view schematic diagram of the ankle joint active and passive rehabilitation training device described in this invention;

[0016] Figure 2 This is a second-view schematic diagram of the ankle joint active and passive rehabilitation training device described in this invention;

[0017] Figure 3 This is a schematic diagram of the first motor assembly mechanism of the present invention;

[0018] Figure 4 This is a schematic diagram of the spring assembly mechanism described in this invention;

[0019] Figure 5 This is a schematic diagram of the second motor assembly mechanism of the present invention;

[0020] Figure 6 This is a schematic diagram of the third motor assembly mechanism described in this invention;

[0021] Figure 7 This is a diagram showing the range of motion of the patient's ankle joint during rehabilitation training exercises according to the present invention;

[0022] Figure 8 This diagram illustrates the range of motion of the patient's ankle dorsiflexion / plantar flexion during rehabilitation training exercises according to the present invention.

[0023] Figure 9 This diagram illustrates the range of motion of the patient's ankle joint during rehabilitation training exercises according to the present invention.

[0024] In the picture, Figure 1 and Figure 2In the diagram, 1 represents the first motor assembly, 2 represents the spring assembly, 3 represents the second motor assembly, and 4 represents the third motor assembly. Figure 3 1-1 is the guide limiting groove, 1-2 is the first motor, 1-3 is the first U-shaped connecting rod, 1-4 is the base with a groove, 1-5 is the inward and outward limiting pin, and 1-6 is the spring fixing assembly; Figure 4 2-1 is a tension spring fixing assembly, 2-2 is a tension spring, 2-3 is a fixing rod with an inclined angle, 2-4 is a fixing rod, 2-5 is a compression spring, 2-6 is a ball joint with a groove, 2-7 is a universal rod, and 2-8 is a universal joint; Figure 5 3-1 is the fixed tension spring and ball joint assembly, 3-2 is the first T-type motor fixing assembly, 3-3 is the universal joint fixing assembly, 3-4 is the D-ring, 3-5 is the foot plate, 3-6 is the first Z-type connecting rod, 3-7 is the second motor, and 3-8 is the inward and outward tilting limit assembly; Figure 6 4-1 is the third motor fixing component, 4-2 is the support component, 4-3 is the third motor, 4-4 is the second U-shaped connecting rod, 4-5 is the bearing, and 4-6 is the dorsiflexion and plantarflexion limiting component. Detailed Implementation

[0025] The following is based on the appendix Figure 1-9 The present invention will be further described as follows:

[0026] To make the technical solution of the present invention clearer and more complete, a detailed description will be provided below in conjunction with the accompanying drawings. It should be noted that the described embodiments are only some embodiments of the present invention, and not all of them. Based on these embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0027] In the description of this invention, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., are used based on the orientation or positional relationships shown in the accompanying drawings and are only for ease of understanding and simplification. The use of these terms does not imply any limitation on the actual structure, operation, or use of this invention.

[0028] In the description of this invention, unless otherwise expressly stated, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, these terms can refer to a fixed connection, a detachable connection, or an integral connection; they can be mechanical or electrical connections; they can refer to a direct connection between two components, an indirect connection through an intermediate medium, or a connection within two components. Those skilled in the art should understand the specific meaning of these terms in this invention according to the specific context.

[0029] like Figure 1 , Figure 2As shown, the first embodiment of the present invention provides a flexible adaptive ankle joint active and passive rehabilitation training device based on the prior art. The device is symmetrical about the sagittal plane and includes a grooved base 1-4 fixedly connected to a first motor assembly 1, a first U-shaped connecting rod 1-3 fixedly connected to the upper surface of the first motor assembly 1, a spring assembly 2 fixedly connected to the upper surface of the first U-shaped connecting rod 1-3, a tension spring 2-2 disposed in the spring assembly 2 and fixedly connected to the lower surface of the foot plate 3-5, a second motor assembly 3 fixedly connected to the foot plate 3-5 through a first Z-shaped connecting rod 3-6, and a third motor assembly 4 connected to the second motor assembly 3 through a second U-shaped connecting rod 4-4.

[0030] like Figure 1 , Figure 2 As shown, Figure 1 A rehabilitation training device from a first-person perspective. Figure 2 This is a rehabilitation training device from a second-person perspective; the following will be in accordance with... Figure 2 The accompanying drawings are labeled with first motor assembly 1, spring assembly 2, second motor assembly 3, and third motor assembly 4, and each assembly is described in detail.

[0031] First, the specific structure of the first motor assembly 1 will be described in detail, such as... Figure 3 As shown, the device comprises a guide limiting groove 1-1, a first motor 1-2, a first U-shaped connecting rod 1-3, a grooved base 1-4, an inward and outward limiting pin 1-5, and a spring fixing assembly 1-6. The grooved base 1-4 is composed of three printed parts of different sizes joined together. The middle printed part has a groove for the first motor 1-2, used to fix the first motor 1-2. In addition, the lower surfaces of the middle and rear printed parts both have grooves for motor wiring. The middle printed part also has a guide limiting groove 1-1. The output end of the first motor 1-2 is connected to the first U-shaped connecting rod 1-3. An inward and outward limiting pin 1-5 is installed in the middle of the first U-shaped connecting rod 1-3, and its uppermost end is fixedly connected to the spring fixing assembly 1-6.

[0032] The specific structure of spring assembly 2 is as follows: Figure 4As shown, the assembly includes a tension spring fixing component 2-1, tension springs 2-2, a fixed rod with an inclined angle 2-3, a fixed rod 2-4, a compression spring 2-5, a grooved ball joint 2-6, a universal rod 2-7, and a universal joint 2-8. The tension spring fixing component 2-1 fixes three identical tension springs 2-2, while three compression springs 2-5 are mounted on the fixed rod 2-4, transmitting force through their compression and connecting to the upper groove of the grooved ball joint 2-6. The universal joint 2-8 is used to adjust the angle, and the universal rod 2-7 is connected to the spring fixing component 1-6, providing support. When the patient's foot is placed on the footplate 3-5, due to uneven pressure distribution, the footplate 3-5 will tilt to varying degrees. At this time, the compression force of the compression spring 2-5 interacts with the tension force of the tension spring 2-2, and through the adjustment function of the universal joint 2-8, the footplate 3-5 quickly returns to a balanced state. This mechanism can effectively assist patients in dorsiflexion, plantarflexion, inversion and eversion movements of the ankle, thereby enabling them to successfully complete rehabilitation training movements.

[0033] The specific structure of the second motor assembly 3 is as follows: Figure 5 As shown, the assembly includes a fixed tension spring and ball joint assembly 3-1, a first T-shaped motor fixing assembly 3-2, a universal joint fixing assembly 3-3, a D-ring 3-4, a foot plate 3-5, a first Z-shaped connecting rod 3-6, a second motor 3-7, and an inversion / eversion limiting assembly 3-8. The second motor 3-7 is fixed by the first T-shaped motor fixing assembly 3-2, and the inversion / eversion limiting assembly 3-8 is connected to its surface to limit the range of motion. The output shaft of the second motor 3-7 is fixedly connected to the first Z-shaped connecting rod 3-6, which is further connected to the foot plate 3-5 to achieve force transmission and motion control. The foot plate 3-5 has a groove inside for installing the D-ring 3-4 to fix the patient's foot; its lower surface connects to the universal joint fixing assembly 3-3 and the fixed tension spring and ball joint assembly 3-1 to provide support and elastic adjustment. The entire assembly, through the synergistic action of its components, achieves precise control of the patient's foot and rehabilitation assistance functions.

[0034] The specific structure of the third motor assembly 4 is as follows: Figure 6As shown, the system mainly includes a third motor fixing assembly 4-1, a support assembly 4-2, a third motor 4-3, a second U-shaped connecting rod 4-4, a bearing 4-5, and a dorsiflexion-plantarflexion limiting assembly 4-6. The third motor 4-3 is securely mounted via the third motor fixing assembly 4-1, and its output shaft is connected to the left end of the second U-shaped connecting rod 4-4, while the right end of the second U-shaped connecting rod 4-4 is connected to the bearing 4-5. The bearing 4-5 is fixedly connected to the support assembly 4-2, and further connected by the support assembly 4-2 to the dorsiflexion-plantarflexion limiting assembly 4-6. During operation, the output shaft of the third motor 4-3 transmits power, driving the second U-shaped connecting rod 4-4 to move to the left. Simultaneously, the right support assembly 4-2 is driven via the bearing 4-5, achieving dorsiflexion and plantarflexion movements of the ankle, thereby completing the rehabilitation training movements.

[0035] When the patient wears this invention to perform rehabilitation training exercises, the range of motion of the ankle joint is as follows: Figure 7 , Figure 8 , Figure 9 As shown, with the initial position of the ankle joint's motion axis as 0 degrees, the range of motion angles for adduction and abduction are -36 degrees to 36 degrees, for plantar flexion and dorsiflexion are -45 degrees to 30 degrees, and for inversion and eversion are -22 degrees to 22 degrees.

[0036] The embodiments described in this application are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of the invention. Those skilled in the art should understand that the scope of protection of the present invention includes not only combinations of the specific technical features described above, but also other technical solutions formed by any combination of the above technical features or their equivalents without departing from the concept of the present invention.

Claims

1. A flexible adaptive ankle joint active and passive rehabilitation training device, characterized in that, The device is symmetrical about the sagittal plane and includes a first motor assembly (1), a spring assembly (2), a second motor assembly (3), and a third motor assembly (4). A grooved base (1-4) and the bottom of the first motor (1-2) are fixedly connected by screws. The output end of the first motor (1-2) is fastened to the spring assembly (2). The spring assembly (2) is connected via a tension spring (2-2), a universal joint (2-8), a grooved ball joint (2-6), and a foot plate (3-5). The foot plate (3-5) is connected to the second motor assembly (3) via a first Z-shaped connecting rod (3-6). The second motor assembly (3) is connected to the third motor assembly (4) via a first T-shaped motor fixing assembly (3-2), a second U-shaped connecting rod (4-4), and a bearing (4-5). The third motor assembly (4) is securely connected to the first motor assembly (1) via a first U-shaped connecting rod (1-3). The spring assembly (2) consists of three tension springs (2-2) and three compression springs. (2-5) and a universal joint (2-8); the upper end of the tension spring (2-2) is connected to the foot plate (3-5), and the lower end is connected to the tension spring fixing assembly (2-1) on the output shaft of the first motor assembly (1); the compression spring (2-5) is mounted on the fixing rod (2-4), and when the fixing rod (2-4) is compressed into the fixing groove, the compression spring (2-5) is compressed accordingly; the upper end of the universal joint (2-8) is connected to the universal joint fixing assembly (3-8) of the foot plate (3-5). 3) Connected to the bottom, the universal joint (2-7) is connected to the bottom, and the universal joint (2-7) is connected to the spring fixing assembly (1-6); when the patient's ankle joint is placed on the foot plate (3-5), the foot plate (3-5) will tilt to different degrees due to the uneven pressure of the foot; at this time, the compression force of the compression spring (2-5) and the tension force of the tension spring (2-2) interact with each other, and through the adjustment of the universal joint (2-8), the foot plate (3-5) is quickly restored to a balanced state.

2. The flexible adaptive ankle joint active and passive rehabilitation training device according to claim 1, characterized in that, The first motor assembly (1) mainly includes a first motor (1-2), a grooved base (1-4), a guide limiting groove (1-1), a first U-shaped connecting rod (1-3), an inward and outward limiting pin (1-5), and a spring fixing assembly (1-6); wherein, the first motor (1-2) is fixedly installed with the grooved base (1-4), and the guide limiting groove (1-1) is chiseled in the grooved base (1-4) for the inward and outward limiting pin (1-5) to slide and limit within it; the first U-shaped connecting rod (1-3) and the first motor (1-2) are connected to each other. The output end of the first U-shaped link (1-3) is connected to the first U-shaped link (1-3), and the first U-shaped link (1-3) is provided with the inward and outward limiting pin (1-5) for precise control of the range of motion; the bottom surface of the spring assembly (2) is fixedly connected to the first U-shaped link (1-3) to play a role in buffering and stabilizing; when the output shaft of the first motor (1-2) transmits power, it can drive the patient's lower leg and ankle to move left and right, thereby assisting the patient's ankle joint to complete the inward and outward movements; the grooved base (1-4) is not only used to support the entire rehabilitation robot, but also to fix the first motor (1-2).

3. The flexible adaptive ankle joint active and passive rehabilitation training device according to claim 1, characterized in that, The second motor assembly (3) consists of a second motor (3-7), a first Z-shaped connecting rod (3-6) connected to the output end of the second motor (3-7), a foot plate (3-5), a D-shaped ring (3-4) on the foot plate (3-5), and a bandage; the output shaft of the second motor (3-7) transmits power to drive the first Z-shaped connecting rod (3-6) and thus drive the foot plate (3-5) to perform inversion and eversion movements of the ankle.

4. The flexible adaptive ankle joint active and passive rehabilitation training device according to claim 1, characterized in that, The third motor assembly (4) includes a third motor (4-3), a second U-shaped connecting rod (4-4) connected to the output end of the third motor (4-3), a bearing (4-5) connected to the second U-shaped connecting rod (4-4), and a third motor fixing assembly (4-1). The output end of the third motor (4-3) is connected to the left end of the second U-shaped connecting rod (4-4), and the right end of the second U-shaped connecting rod (4-4) is connected to the bearing (4-5). The bearing (4-5) is connected to the right side support assembly (4-2). The second U-shaped connecting rod (4-4) is connected to the first T-shaped motor fixing assembly (3-2) in the middle. The output shaft of the third motor (4-3) transmits power, driving the left side of the second U-shaped connecting rod (4-4). At the same time, the right side passively drives the bearing (4-5) to perform dorsiflexion and plantarflexion movements of the ankle.

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