Ankle rehabilitation training device capable of achieving bilateral synchronization

Abstract

According to the ankle rehabilitation training device capable of achieving bilateral synchronization, a foot sole assembly forms a foot containing space, a pressure sensing assembly is arranged on the foot sole assembly and detects stress of the front foot sole portion and stress of the rear foot sole portion of the foot sole assembly at the same time, and an ankle connecting assembly is rotatably connected with the foot sole assembly. The first driving piece drives the sole assembly to rotate relative to the ankle connecting assembly, and back stretching or plantar flexion rehabilitation actions are completed. According to the ankle rehabilitation training device, the stress conditions of the front sole face and the rear sole face of the sole assembly can be detected through the pressure sensing assembly on one side, the stress conditions are transmitted to the driving piece of the ankle rehabilitation training device on the other side, synchronous rehabilitation training actions on the two sides are completed, and the training process with matched difficulty grades can be completed on the two feet.

Description

Technical Field

[0001] The utility model relates to the technical field of rehabilitation training equipment, and particularly relates to a lower limb rehabilitation training device. Background Technique

[0002] Diseases such as stroke often lead to lower limb movement disorders in patients, damaging the limb movement and coordination functions. Limb rehabilitation training instruments can help restore their limb movement ability, coordination ability, and stability. Existing limb rehabilitation training instruments are generally divided into single-degree-of-freedom lower limb rehabilitation, wearable lower limb rehabilitation, and sitting-lying lower limb rehabilitation equipment, which can help patients complete repetitive lower limb movements actively, passively, or in an assisted form, so as to achieve the effect of repetitive rehabilitation training treatment.

[0003] At present, during the training process of traditional limb rehabilitation training instruments, single-degree-of-freedom lower limb rehabilitation equipment is suitable for patients with relatively weak muscle strength, and conducts rehabilitation training through circular movements such as pedaling. Wearable lower limb rehabilitation equipment is suitable for junior high school students and above. Based on simulation and sensor technology, it assists patients in simulating walking training. The sitting-lying lower limb rehabilitation equipment adopts a mechanical leg structure similar to the human lower limb to realize the rotation of the hip joint, knee joint, and ankle joint in the sagittal plane of the human body. Patients sit on the robot chair for rehabilitation training, which is comfortable and safe.

[0004] Collecting the muscle strength of the lower limbs has always been a technical problem. The force of the limb is measured by detecting the pressure in the enclosed space where the mechanical limb changes, and only one side can be detected. For example, in the "Grip Force Detection Mechanism, Exercise Equipment with the Grip Force Detection Mechanism, and Usage Method of the Exercise Equipment" disclosed in Patent CN 109152560 A, synchronous detection of bilateral limbs cannot be achieved, the detection accuracy and efficiency are low, especially during the process of interactive exercise or training, reasonable feedback or compensation cannot be given, and the difficulty level configuration of adaptability cannot be carried out, etc. Content of the Utility Model

[0005] Purpose of the utility model: Provide an ankle rehabilitation training device that can be synchronously bilateral. It can detect the pulling and pressing forces on the front sole part and the rear sole part of one side and transmit them to the sole of the other side for synchronous rehabilitation training of bilateral ankles, realizing synchronous and symmetric dorsiflexion / plantar flexion movements of the bilateral ankles.

[0006] Technical solution: The ankle rehabilitation training device that can be synchronously bilateral described in the utility model includes:

[0007] A sole assembly that forms a receiving space for the foot;

[0008] A pressure sensing assembly that is arranged on the sole assembly and simultaneously detects the forces on the front sole part and the rear sole part of the sole assembly;

[0009] Ankle connection component, the ankle connection component is rotatably connected to the foot sole component.

[0010] A first driving member, the first driving member drives the foot sole component to rotate relative to the ankle connection component to complete the dorsiflexion or plantar flexion rehabilitation movement.

[0011] Furthermore, the foot sole component includes:

[0012] The front foot sole component, the front foot sole component includes a front bottom plate and a front baffle, and the front baffle surrounds the front end of the front bottom plate;

[0013] The rear foot sole component, the rear foot sole component includes a rear bottom plate and a rear baffle, and the rear baffle surrounds the rear end of the rear bottom plate; the rear side of the rear foot sole component is driven to rotate by the first driving member, and the front side of the rear foot sole component is connected to the front foot sole component.

[0014] Furthermore, the included angle formed by the front sole surface of the front foot sole component and the rear sole surface of the rear foot sole component is adjustable.

[0015] Furthermore, the front foot sole component and the rear foot sole component are connected by a connecting member, the connecting member is fixedly connected to the rear foot connecting member and rotatably connected to the front foot sole component.

[0016] Furthermore, the front foot sole component is detachably connected to the connecting member.

[0017] Furthermore, it further includes an angle adjustment component, the angle adjustment component is movably arranged on the ankle connection component, and drives the front foot sole component to rotate relative to the connecting member.

[0018] Furthermore, the angle adjustment component includes:

[0019] A moving member, the moving member slides along the ankle connection component and is locked;

[0020] A second driving member, the second driving member can perform a telescopic action;

[0021] One end of the second driving member is rotatably connected to the moving member, and the other end is connected to the front foot sole component and rotates relative to the connecting member at the same time.

[0022] Furthermore, a plurality of radially penetrating holes are formed in the ankle connecting member, and corresponding locking holes are provided on the moving member.

[0023] Furthermore, the angle adjustment component further includes a locking member, and the locking member is screwed into the corresponding through hole and locking hole and tightened to lock the position of the moving member on the ankle connecting member.

[0024] Furthermore, the pressure sensing component includes:

[0025] A force-bearing member, which is arranged on the front bottom plate and the rear bottom plate;

[0026] A first tension and compression sensor, which is arranged between the force-bearing plate and the front bottom plate;

[0027] A second tension and compression sensor, which is arranged between the force-bearing plate and the rear bottom plate.

[0028] Advantages: 1. The utility model can detect the force conditions of the front sole surface and the rear sole surface of the sole assembly through the pressure sensing assembly on one side and transmit them to the driving member of the ankle rehabilitation training device on the other side to complete bilateral synchronous rehabilitation training actions, so that both feet can complete the training process with matching difficulty levels;

[0029] 2. The setting of the angle adjustment assembly can adjust the angles of the front and rear sole surfaces, adapt to the arch conditions of different users, and make adaptive fine-tuning according to the needs of completing the rehabilitation actions during the process of completing the rehabilitation actions.

[0030] 3. The front sole assembly can be configured in different sizes and can be replaced according to the age and foot shape of the user, so that it can be used by more people. Description of the Drawings

[0031] Figure 1 Taking the right foot as an example, it is an axonometric view of the ankle rehabilitation training device of the utility model;

[0032] Figure 2 It is a front view of some ankle components;

[0033] Figure 3 It is a top view of the installation position of the pressure sensing assembly (the force-bearing member is not shown);

[0034] Figure 4 It is composed of Figure 3 A cross-sectional view taken along the A-A section in

[0035] Figure 5 It is a top view of the installation position of the force-bearing member;

[0036] Figure 6 It is a schematic diagram of the dorsiflexion state of the utility model;

[0037] Figure 7 It is a schematic diagram of the plantar flexion state of the utility model.

[0038] In the figure: 1 - First tensile and compressive force sensor, 2 - Second tensile and compressive force sensor, 3 - Forefoot component, 31 - Front bottom plate, 32 - Front baffle, 4 - Rearfoot component, 41 - Rear bottom plate, 42 - Rear baffle, 5 - Force-bearing member, 6 - Connecting member, 6a - Second through hole, 7 - First driving member, 8 - Ankle connection component, 8a - Through hole, 9 - Moving member, 9a - Locking hole, 9b - Groove, 10 - First rotating member, 11 - Second driving member, 11a - First through hole, 12 - Second rotating member, 13 - Wire slot. Detailed implementation manner

[0039] To make the purpose and implementation manner of this application clearer, the following will clearly and completely describe the exemplary implementation manner of this application with reference to the accompanying drawings in the exemplary embodiments of this application. Obviously, the described exemplary embodiments are only a part of the embodiments of this application, rather than all of the embodiments. It should be noted that the brief description of the terms in this application is only for the convenience of understanding the subsequent described implementation manner, rather than intending to limit the implementation manner of this application. Unless otherwise specified, these terms should be understood in their ordinary and general meanings.

[0040] The terms "first", "second", etc. in the description, claims and above-mentioned drawings of this application are used to distinguish similar or like objects or entities, and do not necessarily mean to limit a specific order or sequence, unless otherwise noted. It should be understood that such terms can be interchanged under appropriate circumstances. The terms "comprising" and "having" and any variations thereof are intended to cover but not exclude inclusion. For example, a product or device comprising a series of components does not necessarily have to be limited to all the clearly listed components, but may include other components that are not clearly listed or are inherent to these products or devices.

[0041] An ankle rehabilitation training device generally includes a left-foot ankle rehabilitation training device and a right-foot ankle rehabilitation training device. The structures of the left and right foot devices are symmetrically arranged. For the convenience of description, the following takes the right-foot ankle rehabilitation training device as an example for illustration. The structure of the left foot is mirror-symmetrical to it and will not be elaborated here.

[0042] Such as Figure 1 、 2As shown in the figure, an ankle rehabilitation training device capable of bilateral synchronization includes a foot sole component, a pressure sensing component, an ankle connection component 8, and a first driving member 7. Among them, the foot sole component forms a receiving space for the foot, allowing the user to place the corresponding single foot therein; the pressure sensing component is arranged on the foot sole component to detect the force conditions of the front sole part and the rear sole part of the foot sole component at the same time; the ankle connection component 8 is rotatably connected to the foot sole component, and the first driving member 7 drives the foot sole component to rotate relative to the ankle connection component 8. When the pressure sensing component detects the pressure difference between the front and rear soles, it can be transmitted to the first driving member 7 of the ankle rehabilitation training device on the other side to perform bilateral synchronous rehabilitation actions. Through the rotation of the foot sole component relative to the ankle connection component 8, the dorsiflexion ( Figure 6 ), or plantar flexion ( Figure 7 ) actions are completed. The transmission of the pressure difference can be realized by the upper computer, which belongs to common technology and will not be described in detail here.

[0043] In some embodiments, the first driving member 7 can be selected from any motor capable of completing driving rotation, such as a planetary gear reduction servo motor. The outer ring of the planetary gear reduction servo motor is fixed to the ankle connecting member 6, and the inner ring is fixed to the foot sole component. Therefore, when the inner ring of the motor rotates in the outer ring, the foot sole component can rotate forward and backward relative to the ankle connection component 8. Specifically, in accordance with the Figure 2 clockwise direction, the dorsiflexion action of the ankle joint is completed to reach the Figure 6 state, and in accordance with the Figure 2 counterclockwise direction, the plantar flexion action of the ankle joint is completed to reach the Figure 7 state.

[0044] As shown in Figure 3 , 4 , the front foot sole component 3 includes a front bottom plate 31 and a front baffle 32. The front baffle 32 is an arc-shaped baffle adapted to the front end of the foot, surrounding the front end of the front bottom plate 31 to prevent the patient's foot from stretching forward; the rear foot sole component 4 includes a rear bottom plate 41 and a rear baffle 42. The rear baffle 42 is an arc-shaped baffle adapted to the heel, surrounding the rear end of the rear bottom plate 41 to prevent the patient's foot from stretching backward. The rear side of the rear foot sole component 4 is driven by the first driving member 7 to rotate, and the front side of the rear foot sole component 4 is connected to the front foot sole component 3, and the two act simultaneously during the rehabilitation training.

[0045] In some embodiments, the included angle formed by the front sole surface of the front foot sole component 3 and the rear sole surface of the rear foot sole component 4 can be adjusted to adapt to the arches of different users and can be adjusted according to the special shapes of the arches of some users, improving comfort during the rehabilitation training.

[0046] As shown in Figure 1 , 2As shown, the forefoot assembly 3 and the hindfoot assembly 4 are connected by a connecting member 6. The hindfoot assembly 4 is connected to one end of the connecting member 6, and the forefoot assembly 3 is rotatably connected to the other end of the connecting member 6. The setting of the connecting member 6 can, on the one hand, simplify the overall structure of the foot assembly, reduce the weight, and make the completion of the rehabilitation training action easier; on the other hand, by adjusting the palm angle between the forefoot assembly 3 and the hindfoot assembly 4, they can be relatively close to or away from each other to meet the needs of different users.

[0047] In some embodiments, the forefoot assembly 3 is detachably connected to the connecting member 6. The sizes of the forefoot assemblies 3 can be distinguished. When used by different users, the forefoot assemblies 3 can be replaced to expand the user group.

[0048] In some embodiments, an angle adjustment assembly is further included. The angle adjustment assembly is movably arranged on the ankle connecting assembly 8 and drives the rotation of the forefoot assembly 3 relative to the connecting member 6. When observing from the side of the ankle rehabilitation training device, the ankle connecting member 6, the foot assembly, and the angle adjustment assembly form a stable triangle to ensure the smooth completion of the dorsiflexion / plantarflexion action; the setting of the angle adjustment assembly can further prevent the foot assembly from slipping rapidly relative to the ankle connecting assembly 8 when completing the dorsiflexion or plantarflexion action, ensuring the stability and continuity of the ankle rehabilitation action.

[0049] Specifically, the angle adjustment assembly includes a moving member 9 and a second driving member 11. The moving member 9 slides along the ankle connecting assembly 8 and is locked. The second driving member 11 can perform a telescopic action. One end of the second driving member 11 is rotatably connected to the moving member 9, and the other end is connected to the forefoot assembly 3 and is simultaneously rotatably connected to the connecting member 6.

[0050] In some embodiments, as Figure 1 , 2 shown, a plurality of radially penetrating holes 8a are formed in the ankle connecting member 6, and corresponding locking holes 9a are provided on the moving member 9. Generally, the penetrating holes 8a are equidistantly arranged along the length direction of the ankle connecting member 6, and the position of the moving member 9 on the ankle connecting member 6 is determined according to the corresponding relationship between the locking hole 9a and any one of the penetrating holes 8a.

[0051] Furthermore, the angle adjustment assembly further includes a locking member. The locking member is screwed into the corresponding penetrating hole 8a and locking hole 9a and tightened to lock the position of the moving member 9 on the ankle connecting member 6.

[0052] Exemplarily, the second driving member 11 can be implemented by a push rod motor. When the first driving member 7 cannot be braked and stops at the current position when powered off, the push rod motor can prevent the rapid dropping of the foot assembly at this time and improve the safety of the device operation.

[0053] Furthermore, the first end of the second driving member 11 is rotatably connected to the moving member 9 through the first rotating member 10, and the second end is connected to the forefoot assembly 3 through the second rotating member 12. The first rotating member 10 can be configured as a pin. A groove 9b is formed in the moving member 9, and the pin is horizontally disposed in the groove 9b. A first through hole 11a for the pin to pass through is formed in the first end of the second driving member 11, and the first through hole 11a is sleeved on the pin so that the second driving member 11 can rotate around the pin. The second rotating member 12 can be configured as a pin shaft, and the shaft end of the pin shaft is connected and fixed to the forefoot assembly 3 through a gasket. A second through hole 6a for the pin shaft to pass through is formed in the front end of the connecting member 6. Therefore, during the telescopic process of the second driving member 11, the forefoot assembly 3 can be driven by the pin shaft to rotate relative to the connecting member 6, realizing the adjustment of the included angle between the forefoot and hindfoot soles.

[0054] In some embodiments, as Figure 3 , 5 shown, the pressure sensing assembly includes a force-receiving member 5, a first tension and compression sensor 1, and a second tension and compression sensor 2. The force-receiving member 5 is arranged on the front bottom plate 31 and the rear bottom plate 41. The first tension and compression sensor 1 is disposed between the force-receiving plate and the front bottom plate 31, and the second tension and compression sensor 2 is disposed between the force-receiving plate and the rear bottom plate 41. By obtaining the pressure values measured by the two tension and compression sensors, they can be transmitted to the host computer to obtain a pressure difference, and then the host computer transmits the pressure difference to the first driving member 7 of the ankle rehabilitation training device on the other side to synchronously control the synchronous movement of the ankle on the other side.

[0055] Specifically, a first counterbore and a second counterbore for loading the first tension and compression sensor 1 and the second tension and compression sensor 2 are respectively formed on the front bottom plate 31 and the rear bottom plate 41. A wire groove 13 is also formed on the front bottom plate 31 and the rear bottom plate 41. The wire groove 13 on the front bottom plate 31 is connected to the first counterbore and extends towards the second counterbore, and the wire groove 13 on the rear bottom plate 41 is connected to the second counterbore and extends towards the first counterbore for the wire routing of the two tension and compression sensors.

[0056] The first tension and compression sensor 1 and the second tension and compression sensor 2 are respectively placed in the first counterbore and the second counterbore, and there is a gap between the front bottom plate 31, the rear bottom plate 41 and the force-receiving member 5. This gap provides space for the elastic member on the tension and compression sensor to deform under force, and ensures that the force-receiving member 5 does not come into contact with the front bottom plate 31 and the rear bottom plate 41, avoiding measurement errors of the sensor.

[0057] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A bilaterally synchronized ankle rehabilitation training device, characterized in that: include: A sole assembly, wherein the sole assembly forms a receiving space for a foot; A pressure sensing component, which is arranged on the sole component and detects the forces on the forefoot part and the rear foot part of the sole component at the same time; An ankle connection component, the ankle connection component is rotatably connected to the sole of the foot component; A first driving member drives the sole assembly to rotate relative to the ankle connecting assembly to complete a dorsiflexion or plantar flexion rehabilitation action.

2. The bilaterally synchronized ankle rehabilitation training device according to claim 1, characterized in that: The sole assembly comprises: A forefoot sole assembly, the forefoot sole assembly comprising a front bottom plate and a front baffle, the front baffle being arranged around the front end of the front bottom plate; The rear sole assembly comprises a rear base plate and a rear baffle, wherein the rear baffle is arranged around the rear end of the rear base plate; the rear side of the rear sole assembly is driven to rotate by a first driving member, and the front side of the rear sole assembly is connected to the front sole assembly.

3. The bilaterally synchronized ankle rehabilitation training device according to claim 2, characterized in that: The angle formed by the forefoot surface of the forefoot component and the rear foot surface of the rear foot component is adjustable.

4. The bilaterally synchronized ankle rehabilitation training device according to claim 3, characterized in that: The forefoot assembly and the rear foot assembly are connected via a connecting piece, the connecting piece is fixedly connected to the rear foot connecting piece, and is rotatably connected to the forefoot assembly.

5. The bilaterally synchronized ankle rehabilitation training device according to claim 4, characterized in that: The forefoot component is detachably connected to the connecting piece.

6. The bilaterally synchronized ankle rehabilitation training device according to claim 4, characterized in that: It also includes an angle adjustment component, which is movably arranged on the ankle connection component and drives the forefoot component to rotate relative to the connection piece.

7. The bilaterally synchronized ankle rehabilitation training device according to claim 6, characterized in that: The angle adjustment component comprises: A moving member that slides along the ankle connection assembly and is locked; a second driving member, the second driving member being capable of telescopic movement; One end of the second driving member is rotatably connected to the moving member, and the other end is connected to the forefoot assembly and rotates relative to the connecting member at the same time.

8. The bilaterally synchronized ankle rehabilitation training device according to claim 7, characterized in that: The ankle connection component is provided with a plurality of radial through holes, and the moving part is provided with corresponding locking holes.

9. The bilaterally synchronized ankle rehabilitation training device according to claim 8, characterized in that: The angle adjustment assembly also includes a locking piece, which is screwed into the corresponding through hole and the locking hole and tightened to achieve position locking of the moving piece on the ankle connection assembly.

10. The bilaterally synchronized ankle rehabilitation training device according to claim 2, characterized in that: The pressure sensing assembly comprises: A force bearing member, wherein the force bearing member is arranged on the front bottom plate and the rear bottom plate; A first tension and pressure sensor, wherein the first tension and pressure sensor is arranged between the force-bearing plate and the front bottom plate; A second tensile pressure sensor is provided between the force bearing plate and the rear bottom plate.

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