An ankle joint trainer driven by a joint motor

Abstract

This invention discloses an ankle joint trainer driven by a joint motor, belonging to the field of rehabilitation medical device technology. The trainer includes a fixed support frame, a leg positioning component, a joint motor drive component, a foot training execution component, a posture detection component, and an intelligent control component. The leg positioning component is fixed to the upper part of the support frame to fix the patient's lower leg and limit limb displacement. The joint motor drive component uses an integrated joint servo motor as the core power source, abandoning the traditional belt and gear transmission structure, and is directly rigidly connected to the foot training execution component, enabling precise output of torque and rotation angle. The foot training execution component adapts to the human ankle joint's flexion-extension and inversion-variction compound movement trajectory. The posture detection component collects ankle joint movement angle, angular velocity, and force data in real time and feeds them back to the intelligent control component. This invention solves the problems of large transmission gap, low control precision, poor flexibility, and inability to adapt to the training needs of different rehabilitation stages in traditional ankle joint trainers by using a joint motor direct drive structure. It has multiple training modes including passive assistance, active assistance, resistance, and spasticity inhibition. It has a compact structure, fast response speed, and high safety, and is suitable for clinical rehabilitation and home training of patients with ankle joint injuries, sequelae of stroke, etc.

Description

Technical Field

[0001] This invention relates to an ankle joint trainer driven by a joint motor. Background Technology

[0002] The ankle joint is the core joint for weight-bearing and walking. Stroke, traumatic brain injury, post-fracture surgery, sports injuries, etc., can easily lead to functional impairments such as decreased ankle muscle strength, joint stiffness, limited mobility, and muscle spasms, which seriously affect the patient's ability to stand, walk, and perform other daily activities. Long-term, standardized rehabilitation training is required to restore joint mobility and muscle strength.

[0003] Most ankle rehabilitation training equipment currently on the market uses ordinary motors combined with traditional transmission structures such as belts, gears, and lead screws, which have many technical defects: First, the transmission structure has gaps and elastic deformation, resulting in lag in motor power transmission, low motion control precision, and inability to achieve precise training of subtle ankle angles, leading to poor rehabilitation effects; Second, the transmission structure is complex with many parts, making the equipment large and heavy, inconvenient to disassemble and maintain, and difficult to adapt to home use scenarios; Third, the power output has poor smoothness and cannot adaptively adjust the power according to the patient's active exertion state, and rigid traction can easily cause joint pain and even secondary injury; Fourth, the functions are limited, mostly supporting only passive flexion and extension training, which cannot meet the full-cycle rehabilitation needs of patients in the early stage of disability, the middle stage of muscle strength recovery, and the later stage of intensive training, nor can it specifically inhibit muscle spasms.

[0004] As an integrated direct-drive power component, the joint servo motor boasts advantages such as precise and controllable torque, fast response speed, no transmission backlash, and good compliance. However, it is not yet maturely applied in ankle joint rehabilitation training equipment. Based on the shortcomings of existing technology, there is an urgent need to develop a joint motor direct-drive ankle joint trainer with a simplified structure, precise control, multi-mode adaptability, and high safety to meet the needs of full-cycle rehabilitation training. Summary of the Invention

[0005] The purpose of this invention is to solve the problems of low transmission accuracy, complex structure, single function, insufficient safety and poor adaptability of existing ankle joint trainers. It provides an ankle joint trainer driven by a joint motor, which achieves precise and smooth control of ankle joint movement through an integrated joint motor direct drive structure, integrates multi-mode training functions, and adapts to the training needs of patients in different rehabilitation stages and with different conditions.

[0006] To address the above problems, the present invention provides an ankle joint trainer driven by a joint motor, which employs the following technical solution: An ankle joint trainer driven by a joint motor includes a fixed support frame, a joint motor drive assembly, a foot training execution assembly, a posture detection assembly, and an intelligent control assembly. The fixed support frame is vertically positioned on the ground, supporting the entire trainer. The joint motor drive assembly is located above and connected to the foot training execution assembly, and is fixed to the fixed support frame. The foot training execution assembly is located below the joint motor drive assembly and connected to the fixed support frame. The posture detection assembly is connected to both the joint motor drive assembly and the foot training execution assembly, and is used to collect training data. The intelligent control assembly is electrically connected to both the joint motor drive assembly and the posture detection assembly, and is used to receive detection data and output control commands to achieve multi-mode ankle joint rehabilitation training. The joint motor drive assembly includes a joint servo motor, a motor mounting base, and a torque limiting module. The joint servo motor is connected to the fixed support frame via the motor mounting base, and the output shaft of the joint servo motor is directly fixedly connected to the foot training execution assembly to achieve backlash-free direct drive transmission. The torque limiting module is connected to the joint servo motor and is used to limit the output torque of the joint servo motor. The foot training execution component includes an adjustable foot pedal, a foot restraint component, and an angle adjustment base; the angle adjustment base is rigidly connected to the output shaft of the joint servo motor, and the angle is adjusted by the torque output by the joint servo motor; the adjustable foot pedal is located on the surface of the angle adjustment base and can move and rotate on the angle adjustment base to adapt to the fixation of different sizes of feet. The posture detection component includes an angle sensor, a pressure sensing module, and an angular velocity detection module. The angle sensor is located at the output shaft end of the joint servo motor and is used to detect the rotation angle of the output shaft end of the joint servo motor. The pressure sensing module is embedded in the surface of the adjustable foot pedal and is used to collect ankle joint motion parameters and foot force parameters in real time. The angular velocity detection module is connected to the joint servo motor and detects the rotation speed of its output shaft.

[0007] Furthermore, the joint servo motor has a hollow integrated structure, integrating a reducer, encoder, and torque sensor into one unit. The rated output torque is 0-30 N·m, and the rotation angle adjustment range is -45° to +45°, which can accurately match the flexion, extension, inversion, and supination range of the human ankle joint.

[0008] Furthermore, the torque limiting module is equipped with an overload protection program that monitors the output torque of the joint servo motor in real time. When the torque exceeds the preset safety threshold, the motor is immediately stopped and the reverse force is discharged to avoid secondary injury caused by excessive traction on the ankle joint.

[0009] Furthermore, the adjustable foot pedal is equipped with a longitudinal sliding adjustment groove, which can be adjusted to a fixed position according to the patient's foot size. Its surface is provided with anti-slip texture. The foot restraint component uses a flexible and breathable strap that can adaptively conform to the foot contour and the tightness is adjustable.

[0010] Furthermore, the intelligent control component is equipped with a multi-mode training program, including four working modes: passive uniform speed training, active assisted training, graded resistance training, and spastic rhythm inhibition training, which can be switched and adapted to the patient's rehabilitation stage.

[0011] Furthermore, when the passive uniform speed training mode is activated, the joint motor drive component drives the foot pedal to complete the reciprocating motion of the ankle joint according to the preset angle, speed, and cycle, which is suitable for the early rehabilitation of patients with limb weakness or complete disability; when the active assistance training mode is activated, the posture detection component identifies the patient's active force signal in real time, and the joint motor drive component adaptively outputs auxiliary torque according to the force trend of the human body, reducing the exercise load.

[0012] Furthermore, when the graded resistance training mode is activated, the intelligent control component adjusts the reverse resistance of the joint motor drive component step by step to adapt to the muscle strength strengthening training of patients in the middle and late stages of muscle strength recovery; when the spastic rhythm inhibition training mode is activated, the joint motor drive component outputs low-frequency small-amplitude reciprocating buffering power to inhibit ankle muscle spasms and improve joint stiffness.

[0013] Furthermore, the fixed support frame is made of aluminum alloy and has anti-slip fixed feet at the bottom. The overall structure is foldable and can be stored, making it suitable for use in various scenarios such as hospital clinical settings, community rehabilitation, and home use.

[0014] Furthermore, the intelligent control component is equipped with a touch screen and a wireless communication module, which can display training angle, number of times, duration, and force data in real time, and support data storage, export, and remote parameter debugging.

[0015] The beneficial effects of this invention are as follows: The ankle joint trainer driven by a joint motor provides high transmission precision and fast motion response. It adopts a direct-drive structure with a joint motor, eliminating intermediate transmission gaps such as belts and gears, resulting in zero power transmission lag. Angle control precision can reach ±0.1°, and torque output is precise and controllable, enabling refined ankle joint rehabilitation training and effectively improving joint stiffness and limited mobility. It features a simplified structure and strong adaptability: the integrated motor design significantly simplifies the overall structure of the device, making it small, lightweight, and foldable for storage. The leg and foot fixation structures are multi-dimensionally adjustable to accommodate patients of different heights and foot sizes, meeting the needs of adults and adolescents. It offers multi-mode coverage and targeted rehabilitation: integrating four training modes—passive training, active assistance, graded resistance, and spasticity inhibition—it can accurately match the needs of patients in the early, middle, and late stages of rehabilitation, solving the problems of traditional devices having limited functionality and poor targeted rehabilitation. High safety and good compliance: Relying on the high compliance control characteristics of the joint motor, combined with dual safety protections of torque overload and angle limit, it can adaptively match the patient's limb force state, avoiding secondary damage caused by rigid traction, reducing training pain, and improving patient training compliance. High degree of intelligence and convenient rehabilitation management: It can collect and store training data in real time, support data visualization and remote debugging, making it convenient for medical staff to accurately assess rehabilitation effects and customize personalized training programs. It is suitable for use in multiple scenarios such as hospital clinical rehabilitation, community rehabilitation, and home-based self-training. Attached Figure Description

[0016] Appendix Figure 1 This is a schematic diagram of the structure of the present invention.

[0017] Appendix Figure 2 This is a schematic diagram of the control system of the present invention.

[0018] The components include: 1. Fixed support frame, 2. Joint motor drive assembly, 3. Foot training execution assembly, 4. Posture detection assembly, 5. Intelligent control assembly, 6. Joint servo motor, 7. Motor mounting base, 8. Torque limit module, 9. Adjustable foot pedal, 10. Foot restraint assembly, 11. Angle adjustment base, 12. Angle sensor, 13. Pressure sensing module, 14. Angular velocity detection module, 15. Passive uniform speed training, 16. Active assisted training, 17. Graded resistance training, and 18. Spastic rhythm inhibition training. Detailed Implementation

[0019] To better understand the technical solution provided by this invention, the invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0020] As shown in the attached figures, in one embodiment, the ankle joint trainer driven by a joint motor disclosed in this invention includes a main structure comprising a fixed support frame 1, a joint motor drive assembly 2, a foot training execution assembly 3, a posture detection assembly 4, and an intelligent control assembly 5. The fixed support frame 1 is vertically arranged on the ground, supporting the entire trainer. The joint motor drive assembly 2 is located above and connected to the foot training execution assembly 3, and is fixed to the fixed support frame. The foot training execution assembly 3 is located below the joint motor drive assembly 2 and connected to the fixed support frame 1. The posture detection assembly 4 is connected to the joint motor drive assembly 2 and the foot training execution assembly 3, and is used to collect training data. The intelligent control assembly 5 is electrically connected to the joint motor drive assembly 2 and the posture detection assembly 4, respectively, and is used to receive detection data, output control commands, and realize multi-mode ankle joint rehabilitation training. The joint motor drive assembly 2 includes a joint servo motor 6, a motor mounting base 7, and a torque limiting module 8. The joint servo motor 6 is connected to the fixed support frame 1 through the motor mounting base 7, and the output shaft of the joint servo motor 6 is directly fixedly connected to the foot training execution assembly 3 to achieve backlash-free direct drive transmission. The torque limiting module 8 is connected to the joint servo motor 6 and is used to limit the output torque of the joint servo motor 6. The foot training execution component 3 includes an adjustable foot pedal 9, a foot restraint component 10, and an angle adjustment base 11; the angle adjustment base 11 is rigidly connected to the output shaft of the joint servo motor 6, and the angle is adjusted by the torque output by the joint servo motor 6; the adjustable foot pedal 9 is located on the surface of the angle adjustment base 11 and can move and rotate on the angle adjustment base 11 to adapt to the fixation of different sizes of feet; The posture detection component 4 includes an angle sensor 12, a pressure sensing module 13, and an angular velocity detection module 14. The angle sensor 12 is located at the output shaft end of the joint servo motor 6 and is used to detect the rotation angle of the output shaft end of the joint servo motor 6. The pressure sensing module 13 is embedded in the surface of the adjustable foot pedal 9 and is used to collect ankle joint motion parameters and foot force parameters in real time. The angular velocity detection module 14 is connected to the joint servo motor 6 and detects the rotation speed of its output shaft.

[0021] In one embodiment, the joint servo motor 6 has a hollow integrated structure, integrating a reducer, encoder, and torque sensor into one unit. Its rated output torque is 0-30 N·m, and its rotation angle adjustment range is -45° to +45°, precisely matching the flexion, extension, inversion, and supination movements of the human ankle joint. Simultaneously, the torque limit module 8 is equipped with an overload protection program that monitors the output torque of the joint servo motor 6 in real time. When the torque exceeds a preset safety threshold, it immediately triggers a motor stop and reverse force relief action to prevent secondary injury caused by excessive traction on the ankle joint.

[0022] In one embodiment, the adjustable foot pedal 9 is provided with a longitudinal sliding adjustment groove, which can be adjusted to a fixed position according to the size of the patient's foot. Its surface is provided with anti-slip texture. The foot restraint component 10 adopts a flexible and breathable strap that can adaptively fit the contour of the foot and the tightness is adjustable.

[0023] In one embodiment, the intelligent control component 5 is equipped with a multi-mode training program, including four working modes: passive uniform speed training 15, active assisted training 16, graded resistance training 17, and spastic rhythm inhibition training 18, which switch to adapt the training program according to the patient's rehabilitation stage; wherein: When the passive uniform speed training mode 15 is started, the joint motor drive component 2 drives the foot pedal to complete the reciprocating motion of the ankle joint according to the preset angle, speed and cycle, which is suitable for the early rehabilitation of patients with limb weakness and complete disability; when the active assistance training mode 16 is started, the posture detection component 4 identifies the patient's active force signal in real time, and the joint motor drive component 2 adaptively outputs auxiliary torque according to the human body's force trend to reduce the exercise load. When the graded resistance training mode 17 is activated, the intelligent control component 5 adjusts the reverse resistance of the joint motor drive component 2 step by step to adapt to the muscle strength strengthening training of patients in the middle and late stages of muscle strength recovery; when the spastic rhythm inhibition training mode 18 is activated, the joint motor drive component 2 outputs low-frequency small-amplitude reciprocating buffering power to inhibit ankle muscle spasms and improve joint stiffness.

[0024] In one embodiment, the fixed support frame 1 is made of aluminum alloy and has anti-slip fixing pads at the bottom. The overall structure is foldable and can be stored, making it suitable for use in various scenarios such as hospital clinical settings, community rehabilitation, and home use. The intelligent control component 5 is equipped with a touch screen and a wireless communication module, which displays training angle, number of repetitions, duration, and force data in real time, and supports data storage, export, and remote parameter adjustment.

[0025] The method of using this invention: The patient sits in a seated position, adjusts the position of the foot pedal according to their own foot size and fixes their foot; selects the corresponding training mode through the touch screen, and sets parameters such as training angle, speed, duration, and resistance; after the device is started, the posture detection component 4 collects motion and force data in real time, the intelligent control component 5 drives the joint motor to accurately complete the corresponding training action, monitors the running status in real time throughout the process, and immediately stops the machine for protection when the safety threshold is triggered. After the training is completed, a training report is automatically generated.

[0026] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit the technical solutions. Those skilled in the art should understand that any modifications or equivalent substitutions to the technical solutions of the present invention without departing from the spirit and scope of the present invention should be covered within the scope of the claims of the present invention.

Claims

1. An ankle joint exerciser driven by an articulation motor, characterized by comprising: The device includes a fixed support frame, a joint motor drive assembly, a foot training execution assembly, a posture detection assembly, and an intelligent control assembly. The fixed support frame is vertically positioned on the ground, supporting the entire training device. The joint motor drive assembly is located above and connected to the foot training execution assembly, and is fixed to the fixed support frame. The foot training execution assembly is located below the joint motor drive assembly and connected to the fixed support frame. The posture detection assembly connects to both the joint motor drive assembly and the foot training execution assembly, and is used to collect training data. The intelligent control assembly is electrically connected to both the joint motor drive assembly and the posture detection assembly, and is used to receive detection data, output control commands, and realize multi-mode ankle joint rehabilitation training. The joint motor drive assembly includes a joint servo motor, a motor mounting base, and a torque limiting module. The joint servo motor is connected to the fixed support frame via the motor mounting base, and the output shaft of the joint servo motor is directly fixedly connected to the foot training execution assembly to achieve backlash-free direct drive transmission. The torque limiting module is connected to the joint servo motor and is used to limit the output torque of the joint servo motor. The foot training execution component includes an adjustable foot pedal, a foot restraint component, and an angle adjustment base; the angle adjustment base is rigidly connected to the output shaft of the joint servo motor, and the angle is adjusted by the torque output by the joint servo motor; the adjustable foot pedal is located on the surface of the angle adjustment base and can move and rotate on the angle adjustment base to adapt to the fixation of different sizes of feet. The posture detection component includes an angle sensor, a pressure sensing module, and an angular velocity detection module. The angle sensor is located at the output shaft end of the joint servo motor and is used to detect the rotation angle of the output shaft end of the joint servo motor. The pressure sensing module is embedded in the surface of the adjustable foot pedal and is used to collect ankle joint motion parameters and foot force parameters in real time. The angular velocity detection module is connected to the joint servo motor and detects the rotation speed of its output shaft.

2. The ankle joint exerciser driven by a joint motor according to claim 1, wherein The joint servo motor has a hollow integrated structure, integrating a reducer, encoder, and torque sensor into one unit. The rated output torque is 0-30 N·m, and the rotation angle adjustment range is -45° to +45°.

3. The ankle joint exerciser driven by a joint motor according to claim 1, wherein The torque limiting module is equipped with an overload protection program that monitors the output torque of the joint servo motor in real time. When the torque exceeds the preset safety threshold, the motor is immediately stopped and the reverse force is unloaded.

4. The ankle joint trainer driven by a joint motor according to claim 1, characterized in that, The adjustable foot pedal is equipped with a longitudinal sliding adjustment groove, which can be adjusted to a fixed position according to the patient's foot size. Its surface is provided with anti-slip texture, and the foot restraint component uses a flexible and breathable strap.

5. The ankle joint trainer driven by a joint motor according to claim 1, characterized in that, The intelligent control component is equipped with a multi-mode training program, including four working modes: passive uniform speed training, active assisted training, graded resistance training, and spastic rhythm inhibition training. The training program is switched and adapted according to the patient's rehabilitation stage.

6. The ankle joint trainer driven by a joint motor according to claim 5, characterized in that, When the passive uniform speed training mode is activated, the joint motor drive component drives the foot pedal to complete the reciprocating motion of the ankle joint according to the preset angle, speed and cycle, which is suitable for the early rehabilitation of patients with limb weakness and complete disability; when the active assistance training mode is activated, the posture detection component identifies the patient's active force signal in real time, and the joint motor drive component adaptively outputs auxiliary torque according to the force trend of the human body, reducing the exercise load.

7. An ankle joint trainer driven by a joint motor according to claim 5, characterized in that, When the graded resistance training mode is activated, the intelligent control component adjusts the reverse resistance of the joint motor drive component step by step to adapt to the muscle strength strengthening training of patients in the middle and late stages of muscle strength recovery; when the spastic rhythm inhibition training mode is activated, the joint motor drive component outputs low-frequency small-amplitude reciprocating buffering power to inhibit ankle muscle spasms.

8. The ankle joint trainer driven by a joint motor according to claim 1, characterized in that, The fixed support frame is made of aluminum alloy and has anti-slip fixed feet at the bottom.

9. An ankle joint trainer driven by a joint motor according to claim 1, characterized in that, The intelligent control component is equipped with a touch screen and a wireless communication module, which can display training angle, number of times, duration, and force data in real time, and support data storage, export, and remote parameter debugging.

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