Clutch and ankle joint rehabilitation exoskeleton

Abstract

The utility model provides a clutch and an ankle joint rehabilitation exoskeleton. The clutch comprises a base, a foot supporting rod and two elastic telescopic pieces, the upper end of the foot supporting rod is hinged to the base, two planes are formed on the top of the foot supporting rod along the hinge axis, the elastic telescopic pieces are installed on the base, the elastic telescopic pieces and the planes are arranged in a one-to-one correspondence mode, and the elastic telescopic pieces are arranged on the base in a one-to-one correspondence mode. The foot support rod swings to enable the plane to be in contact with or away from the elastic telescopic piece, so that the elastic telescopic piece is compressed or stretched; the base is provided with a first connecting node, the first connecting node is located on a hinged axis, and the lower end of the foot support rod is provided with a second connecting node. The bidirectional passive ankle joint rehabilitation exoskeleton is formed, and a user can be helped to exercise tibia anterior muscles, gastrocnemius muscles, soleus muscles and the like.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to a clutch and ankle joint rehabilitation exoskeleton. Background Art

[0002] In patients with neurological diseases such as stroke, incomplete spinal cord injury or cerebral palsy, the ankle joint complex is impaired, resulting in reduced walking ability and pathological gait patterns. Injuries at the ankle level may be associated with reduced strength, muscle dysfunction, spasticity, poor selective control or limited range of motion. Due to the importance of the ankle joint in gait and the consequences of impaired function that limit its future function, ankle exoskeletons are the most commonly used assistive devices to support walking limitations.

[0003] For example, the existing patent publication number CN116214481A discloses a passive ankle exoskeleton that reduces walking energy consumption. It uses a ratchet and pawl clutch device to control the calf and foot, and customizes a personalized torque-angle curve according to the cam shape and spring stiffness to compensate for various walking obstacles.

[0004] Another example is the ankle exoskeleton and wearable device disclosed in the existing patent announcement number CN216725155U, which adopts a clutch-dependent passive ankle exoskeleton, providing the possibility of passive component stiffness existing or releasing in a specific period during the gait cycle.

[0005] The above two exoskeletons have the following problems:

[0006] (1) The exoskeletons they use are all unidirectional devices that only provide plantar flexion assistance and cannot function throughout the entire gait cycle;

[0007] (ii) It only provides power during push-off to reduce muscle force during plantar flexion, but cannot provide dorsiflexion assistance;

[0008] (iii) It can only assist the calf muscles in a specific cycle, and cannot provide assistance for the training of the tibialis anterior, gastrocnemius and soleus muscles;

[0009] (iv) For impedance training, such as the commonly used impedance training methods for the tibialis anterior muscle, weighted toe curls, standing heel stand, relaxation with a stretch bar, tibialis anterior stretching, etc., they can only actively train specific muscles. If you want to train other muscles, you need to change the movement method (replace the original instrument or training equipment), which cannot be continuous and cannot be controlled or adjusted. Utility Model Content

[0010] The utility model aims to provide a clutch and ankle joint rehabilitation exoskeleton, which can realize bidirectional passive ankle joint rehabilitation training.

[0011] The technical solution of the utility model is: a clutch, including a seat, a foot support rod and two elastic telescopic parts, the upper end of the foot support rod is hinged to the base, and the top of the foot support rod is formed with two planes along the hinge axis, the elastic telescopic parts are installed on the base, and the elastic telescopic parts are arranged one-to-one with the planes, the foot support rod swings to make the planes contact or move away from the elastic telescopic parts, so as to compress or extend the elastic telescopic parts; a first connecting node is provided on the base, the first connecting node is located on the hinge axis, and a second connecting node is provided at the lower end of the foot support rod.

[0012] Preferably, the elastic telescopic part includes a sleeve threadedly connected to the base and a first nut, a disc spring, a bolt, a second nut and a screw rod installed in the sleeve, the disc spring is sleeved on the bolt, one end of the bolt is threadedly connected to the first nut, the other end of the bolt is in surface contact with the second nut, the disc spring abuts between the first nut and the head of the bolt, one end of the screw rod is threadedly connected to the second nut, the other end of the screw rod extends from the sleeve to the bottom of the base and adapts to the plane, and the second nut is in contact with the inner bottom surface of the sleeve.

[0013] Preferably, the first nut is an external thread nut, and the external threads thereon are threadedly connected to the inner hole of the sleeve.

[0014] Preferably, the axes of the two elastic telescopic members are symmetrically arranged in a V shape relative to the center line of the base, and the hinge axis of the foot support rod coincides with the center line of the base.

[0015] The utility model also provides an ankle joint rehabilitation exoskeleton, comprising a calf binding mechanism, a support rod, a foot binding mechanism and the above-mentioned clutch, wherein the upper end of the support rod is connected to the calf binding mechanism, the lower end of the support rod is connected to the first connection node of the clutch, and the second connection node of the clutch is connected to the foot binding mechanism.

[0016] Preferably, the calf binding mechanism includes a binding strap, a first baffle connected to one end of the binding strap and capable of adjusting the length of the binding strap, a second baffle connected to the other end of the binding strap, a first shell connected to the first baffle, a second shell connected to the second baffle, and an adjusting plate connected to the first shell and the second shell, wherein the first baffle, the first shell, the adjusting plate, the second shell, the second baffle and the binding strap are combined to form a ring.

[0017] Preferably, the foot binding mechanism comprises a U-shaped outer ring, the opening of the U-shaped outer ring is connected to a slide, and a cover plate is installed on the lower surface of the slide.

[0018] Preferably, a sliding hole is provided on the sliding plate, and the sliding hole is a waist-shaped hole extending along the length direction of the sliding plate, and a connecting shaft that can slide in the sliding hole is provided on the outer ring.

[0019] Compared with the related art, the beneficial effects of the utility model are:

[0020] 1. Two elastic retractable parts are arranged on the base, and the two elastic retractable parts are distributed on both sides along the hinge axis of the foot support rod, thereby forming a bidirectional passive ankle joint rehabilitation exoskeleton, which can help users exercise the tibialis anterior muscle, gastrocnemius muscle and soleus muscle, etc. The joint rehabilitation exoskeleton can help users reduce body load, improve gait stability, walking energy consumption, and improve their gait efficiency;

[0021] Second, the utility model designs a bidirectional ankle joint rehabilitation exoskeleton for the purpose of assistance and rehabilitation. It is not only suitable for patients with neurological diseases (children's cerebral palsy, stroke), but can also be used for healthy people to perform impedance training or gait assistance;

[0022] 3. Use disc springs as compression springs to control the variable stiffness curve, simulate the variable stiffness properties of muscles, fit the calf muscles, achieve impedance effects for different groups of people, and better meet the characteristics of variable stiffness of calf muscles. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic diagram of the structure of the ankle joint rehabilitation exoskeleton provided by the utility model;

[0024] Figure 2 for Figure 1 A schematic diagram of the structure of the calf binding mechanism;

[0025] Figure 3 A schematic diagram of the structure of a clutch provided by the utility model with one sleeve cut away;

[0026] Figure 4 for Figure 3 A cross-sectional view of

[0027] Figure 5 is a schematic diagram of the structure of the foot binding mechanism;

[0028] Figure 6 This is a schematic diagram of dorsiflexion resistance exercise;

[0029] Figure 7 for Figure 6 Schematic diagram of the movement of the clutch in FIG.

[0030] Figure 8 This is a schematic diagram of plantar flexion resistance exercise;

[0031] Fig. 9 for Figure 8 Schematic diagram of the movement of the clutch in FIG.

[0032] Fig.10Schematic diagram of gait process.

[0033] In the attached drawings: 1. calf binding mechanism; 11. first baffle; 12. first shell; 13. adjustment plate; 14. second shell; 15. second baffle; 16. binding belt; 2. support rod; 3. clutch; 31. base; 311. first connection node; 32. foot support rod; 321. second connection node; 322. plane; 33. elastic telescopic member; 331. first nut; 332. disc spring; 333. bolt; 334. second nut; 335. screw; 336. sleeve; 337. third nut; 34. bearing; 35. shaft; 4. foot binding mechanism; 41. cover plate; 42. slide plate; 43. outer ring; 44. slide hole; 45. connecting shaft. DETAILED DESCRIPTION

[0034] The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments. It should be noted that the embodiments and features in the embodiments of the present invention can be combined with each other without conflict. For the convenience of description, if the words "upper", "lower", "left" and "right" appear in the following text, they only indicate that the upper, lower, left and right directions are consistent with the drawings themselves, and do not limit the structure.

[0035] like Figure 1 As shown, an ankle joint rehabilitation exoskeleton provided in this embodiment includes a calf binding mechanism 1, a support rod 2, a clutch 3 and a foot binding mechanism 4.

[0036] like Figure 1 , Figure 2 As shown, the calf binding mechanism 1 includes a binding belt 16, a first baffle 11 connected to one end of the binding belt 16 and capable of adjusting the length of the binding belt 16, a second baffle 15 connected to the other end of the binding belt 16, a first shell 12 connected to the first baffle 11, a second shell 14 connected to the second baffle 15, and an adjusting piece 13 connected to the first shell 12 and the second shell 14, wherein the first baffle 11, the first shell 12, the adjusting piece 13, the second shell 14, the second baffle 15 and the binding belt 16 are enclosed to form a ring. The upper end of the support rod 2 is connected to the first shell 12 or the second shell 14 of the calf binding mechanism 1. The first baffle 11 and the second baffle 15 are similar to buckle structures, which are commonly used in the field of elastic bands. A waist-shaped hole is set on the adjusting piece 13, and the first shell 12 and the second shell 14 are connected to the waist-shaped holes at corresponding positions to adjust the size of the annular ring according to the periphery of the calf. When wearing, the connection between the first baffle 11 and the binding belt 16 can be disassembled, and the binding belt 16 can be wrapped around the calf and then fastened at the first baffle 11.

[0037] like Figure 3 , Figure 4As shown, the clutch 3 includes a base 31, a foot support rod 32, an elastic telescopic member 33, a bearing 34 and a shaft 35. The upper end of the foot support rod 32 is hinged to the base 31 through the bearing 34 and the shaft 35, and two planes 321 are formed at the top of the foot support rod 32 along the hinge axis. The elastic telescopic member 33 is installed on the base 31, and the elastic telescopic member 33 is arranged one-to-one with the plane 321. The foot support rod 32 swings to make the plane 321 contact or move away from the elastic telescopic member 33, so that the elastic telescopic member 33 is compressed or extended. A first connection node 311 is provided on the base 31, and the first connection node 311 is located on the hinge axis. A second connection node 322 is provided at the lower end of the foot support rod 32.

[0038] The elastic expansion member 33 includes a sleeve 336 threadedly connected to the base 31 and a first nut 331, a disc spring 332, a bolt 333, a second nut 334 and a screw rod 335 installed in the sleeve 336. A through hole is provided inside the sleeve 336, and the through hole is open at one end of the sleeve 336, and the through hole close to the open hole is a threaded hole at one end. The first nut 331 is an external thread nut, and the external thread on it is connected to the threaded hole of the sleeve 336. A threaded column is provided at the end of the sleeve 336 away from the open end, and the interior of the threaded column is connected to the through hole. The threaded column is connected to the threaded hole on the base 31.

[0039] The disc spring 332 is sleeved on the bolt 333, one end of the bolt 333 is threadedly connected to the first nut 331, the other end of the bolt 333 is in surface contact with the second nut 334, the disc spring 332 abuts between the first nut 331 and the head of the bolt 333, one end of the screw rod 335 is threadedly connected to the second nut 334, the other end of the screw rod 335 extends from the sleeve 336 below the base 31 and is threadedly connected to the third nut 337, and the third nut 337 is adapted to the plane 321. The second nut 334 is in contact with the inner bottom surface of the sleeve 336 by thread locking the first nut 331 and the sleeve 336.

[0040] In order to facilitate the connection between the screw rod 335 and the second nut 334, a hexagonal slot is provided at the end of the screw rod 335 located in the second nut 334, which is convenient for using a hexagonal wrench. The length of the screw rod 335 extending out of the base 31 can be adjusted to adjust the swing angle of the foot support rod 32. Different types of disc springs 332 can be used in combination to achieve stiffness curve control.

[0041] The clutch is mostly made of standard parts, which are easy to select and replace. Non-standard parts are made of 7075 aluminum alloy.

[0042] like Figure 3As shown, the axes of the two elastic telescopic members 33 are arranged symmetrically in a V shape relative to the center line of the base 31 , and the hinge axis of the foot support rod 32 coincides with the center line of the base 31 .

[0043] like Figure 5 As shown, the foot binding mechanism 4 is made of polypropylene, and includes a U-shaped outer ring 43, the opening of the U-shaped outer ring 43 is connected to a slide plate 42, and a cover plate 41 is installed on the lower surface of the slide plate 42. The slide plate 42 is provided with a slide hole 44, and the slide hole 44 is a waist-shaped hole extending along the length direction of the slide plate 42. The outer ring 43 is provided with a connecting shaft 45 that can slide in the slide hole 44, and the connecting shaft 45 can be a rivet.

[0044] The lower end of the support rod 2 is screwed to the first connection node 311. The second connection node 322 is screwed to the outer ring 43. The outer ring 43 is provided with a waist-shaped hole extending vertically, and the waist-shaped hole is used to install the foot support rod 32 to adjust the height position of the installation.

[0045] like Figure 6 , Figure 7 As shown, when the wearer puts on the ankle rehabilitation exoskeleton provided by the utility model to perform dorsiflexion impedance training, the wearer does not move his calf, lifts his toes with force, and the foot support rod 32 swings clockwise, and the front plane 321 contacts the elastic telescopic member 33, compressing the disc spring 332 in the elastic telescopic member 33 to store energy. It is used to train the tibialis anterior muscle and stretch and contract the tibialis anterior muscle. The tibialis anterior muscle mainly affects the gait in the walking and initial standing stages, and can prevent diseases such as foot drop. During the initial standing posture and when the heel just starts to contact, the foot can be controlled to decelerate.

[0046] like Figure 8 , Fig. 9 As shown, when the wearer puts on the ankle rehabilitation exoskeleton provided by the utility model to perform plantar flexion impedance training, the wearer's calf does not move, and the wearer stands on tiptoe, the foot support rod 32 swings counterclockwise, and the rear plane 321 contacts the elastic telescopic member 33, compressing the disc spring 332 in the elastic telescopic member 33 to store energy. It is used to train the gastrocnemius and soleus muscles, and to stretch and contract the gastrocnemius and soleus muscles. The presence of spasm or contracture of the gastrocnemius or soleus muscles can lead to horseshoe shape. During most of the standing stage, the plantar flexion of the ankle joint increases, and the exoskeleton can suppress the increase in plantar flexion by training and control. At the same time, the push-off force is increased, and the muscles are concentrated and contracted.

[0047] like Fig. 9As shown, A is heel-on, B is sole-on, C is heel-off, D is toe-off, and E is heel-on. L1 is the support phase, and L2 is the swing phase. In the support phase, L3 is the first plantar flexion, L4 is the first dorsiflexion, L5 is the second plantar flexion, and L6 is the second dorsiflexion. L7 is plantar flexion assistance, L8 is dorsiflexion assistance or torque-free state, L9 is plantar flexion assistance, L10 is dorsiflexion assistance, and L11 is plantar flexion assistance.

[0048] like Fig. 9 As shown, in the initial stage of walking, the ankle joint swings clockwise to perform plantar flexion, compressing the disc spring 332 on the rear side to store energy, and then in the late stage of plantar flexion of the ankle joint, assisting dorsiflexion, the disc spring 332 on the rear side releases energy, prompting the foot support rod 32 to swing counterclockwise, assisting dorsiflexion until entering the standing stage.

[0049] In the standing stage, the ankle joint begins to dorsiflex, the foot support rod 32 swings counterclockwise, and the disc spring 332 on the front side is compressed to store energy. When the ankle joint dorsiflexion angle reaches the limit, the disc spring 332 ends storing energy, and the next step is plantar flexion of the ankle joint, entering the push-off stage.

[0050] In the push-off phase, the sole of the foot is lifted, the ankle joint begins to plantar flex, and the disc spring 332 on the front side releases energy to promote the clockwise swing of the ankle joint. After the power assist is completed, the dynamic potential energy of the footstep rotation is converted by compressing the rear disc spring 332 to store energy for the next step of ankle dorsiflexion. After that, the ankle joint dorsiflexes, and the disc spring 332 on the rear side releases energy until the heel touches the ground, entering the stepping phase.

[0051] The ankle joint rehabilitation exoskeleton provided by the utility model is a continuously adjustable dynamic response exoskeleton that can perform impedance and gait assistance, can dynamically bring the user into an upright position, and improve their stability when walking and standing, can reduce the torque of the knee joint, increase walking speed, increase step length, and reduce walking energy consumption, while also exercising and strengthening the calf muscles of normal people.

[0052] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A clutch, characterized in that: The foot support rod (32) comprises a base (31), a foot support rod (32) and two elastic telescopic parts (33), wherein the upper end of the foot support rod (32) is hinged to the base (31), and the top of the foot support rod (32) is formed with two planes (321) along the hinge axis, the elastic telescopic parts (33) are mounted on the base (31), and the elastic telescopic parts (33) are arranged in a one-to-one correspondence with the planes (321), and the foot support rod (32) swings to make the planes (321) contact or move away from the elastic telescopic parts (33), so that the elastic telescopic parts (33) are compressed or extended; a first connection node (311) is provided on the base (31), and the first connection node (311) is located on the hinge axis, and a second connection node (322) is provided at the lower end of the foot support rod (32).

2. The clutch according to claim 1, characterized in that: The elastic telescopic member (33) comprises a sleeve (336) threadedly connected to the base (31), and a first nut (331), a disc spring (332), a bolt (333), a second nut (334) and a screw rod (335) installed in the sleeve (336); the disc spring (332) is sleeved on the bolt (333); one end of the bolt (333) is threadedly connected to the first nut (331); the other end of the bolt (333) is in surface contact with the second nut (334); the disc spring (332) abuts between the first nut (331) and the head of the bolt (333); one end of the screw rod (335) is threadedly connected to the second nut (334); the other end of the screw rod (335) extends from the sleeve (336) below the base (31) to fit the plane (321); and the second nut (334) is in contact with the inner bottom surface of the sleeve (336).

3. The clutch according to claim 2, characterized in that: The first nut (331) is an external thread nut, and the external threads on the first nut are threadedly connected to the inner hole of the sleeve (336).

4. The clutch according to claim 1, characterized in that: The axes of the two elastic telescopic members (33) are symmetrically arranged in a V shape relative to the center line of the base (31), and the hinge axis of the foot support rod (32) coincides with the center line of the base (31).

5. An ankle joint rehabilitation exoskeleton, comprising a calf binding mechanism (1), a support rod (2) and a foot binding mechanism (4), wherein the upper end of the support rod (2) is connected to the calf binding mechanism (1), and characterized in that: It also comprises a clutch as claimed in any one of claims 1 to 4, wherein the lower end of the support rod (2) is connected to a first connection node (311) of the clutch, and the second connection node (322) of the clutch is connected to a foot binding mechanism (4).

6. The ankle joint rehabilitation exoskeleton according to claim 5, characterized in that: The calf binding mechanism (1) comprises a binding belt (16), a first baffle (11) connected to one end of the binding belt (16) and capable of adjusting the length of the binding belt (16), a second baffle (15) connected to the other end of the binding belt (16), a first outer shell (12) connected to the first baffle (11), a second outer shell (14) connected to the second baffle (15), and an adjustment sheet (13) connected to the first outer shell (12) and the second outer shell (14), wherein the first baffle (11), the first outer shell (12), the adjustment sheet (13), the second outer shell (14), the second baffle (15) and the binding belt (16) are enclosed to form a ring.

7. The ankle joint rehabilitation exoskeleton according to claim 5, characterized in that: The foot binding mechanism (4) comprises a U-shaped outer ring (43), the opening of the U-shaped outer ring (43) is connected to a slide plate (42), and a cover plate (41) is installed on the lower surface of the slide plate (42).

8. The ankle joint rehabilitation exoskeleton according to claim 7, characterized in that: The slide plate (42) is provided with a slide hole (44), the slide hole (44) being a waist-shaped hole extending along the length direction of the slide plate (42), and the outer ring (43) is provided with a connecting shaft (45) capable of sliding in the slide hole (44).

Images