Exoskeleton type KOA-PT rehabilitation treatment device

Abstract

The utility model discloses an exoskeleton type KOA-PT rehabilitation treatment device which comprises a main exoskeleton frame and a shank linkage frame. A foot bearing space and a first connecting part are arranged on the main exoskeleton frame; the shank linkage frame comprises a shank connecting part and a second connecting part, the shank connecting part is arranged above the foot bearing space and rotationally connected with the first connecting part through the second connecting part, the connecting part is arranged at the ankle joint or near the ankle joint, and a standard angle feedback mechanism is arranged at the connecting part. The foot posture monitoring device solves the problem that the foot posture cannot be monitored in real time during KOA-PT rehabilitation treatment, and the foot posture monitoring device is convenient to wear and suitable for being used during KOA-PT rehabilitation treatment of a KOA user.

Description

TECHNICAL FIELD

[0001] The utility model belongs to clinical medical instruments and domestic rehabilitation exercise technical field, specifically points to a kind of KOA-PT rehabilitation treatment device of exoskeleton. BACKGROUND

[0002] KOA-PT therapy is an effective means for treating knee joint pain, KOA-PT therapy requires patients to complete KOA-PT movement according to the corresponding classification treatment scheme in KOA-PT therapy according to the K-L grade they are in, the principle of KOA-PT movement is to drive the non-contact movement of the upper and lower articular surfaces of the knee joint and the contraction and relaxation movement of the synovial capsule around the knee joint cavity by swinging the hip joint; secondarily, it causes the intra-articular pressure to increase and decrease alternately; further promotes the secretion and absorption of synovial fluid in the joint cavity; thereby effectively removing various inflammatory factors and pain factors in the joint cavity; and because the circulation of synovial fluid increases, it plays a positive repair promoting trend on articular cartilage; overall, it relieves the symptoms of knee pain, and also provides a valuable pathophysiological basis for the repair of damaged articular cartilage.

[0003] Mr. Song Jiuhong, the proposer of KOA-PT therapy, found in the research of the utility model that the active exercise of leg-knee muscle group muscle strength during leg swinging has a direct positive correlation with the efficacy of leg KOA symptoms. The muscle strength of the ankle joint surrounding small leg flexor muscle group is usually realized through ankle dorsiflexion and plantarflexion movement, commonly known as "ankle pump" movement. In the process of "ankle pump" movement, there is a synergistic and antagonistic relationship between tibialis anterior muscle and gastrocnemius muscle, when tibialis anterior muscle contracts to dorsiflex the ankle joint, gastrocnemius muscle synchronously relaxes; while when gastrocnemius muscle contracts to plantarflex the ankle joint, tibialis anterior muscle synchronously relaxes. The stability of the knee joint is completed by the cooperation of the thigh muscle group and the small leg muscle group, and "ankle pump" movement can exercise the tibialis anterior muscle and gastrocnemius muscle of the small leg, cooperates with the thigh muscle group to increase the stability of the knee joint, thereby more conducive to relieving or preventing degenerative changes of the knee joint, at the same time, "ankle pump" movement can also enhance the sensitivity and adaptability of the proprioception of the affected limb.

[0004] It is further found in the research process of the present application that in the traditional KOA-PT therapy leg swinging movement, since the swinging leg does not have to bear the body weight of the exerciser, even if the small leg muscle group is in a relatively relaxed state throughout, it can also complete the established leg swinging movement goal; however, the small leg muscle group in a relaxed state cannot better cooperate with the thigh muscle group to realize the contraction and relaxation movement of the synovial capsule around the knee joint cavity, thereby making the overall front and rear flexor muscle group strength of the swinging leg not high in efficiency of promoting the synergistic coordination of proprioception.

[0005] Therefore, the creators of this application proposed a more effective KOA-PT exercise therapy for patients with knee periarthritis, which breaks down a round-trip KOA-PT movement into five consecutive movement units: 1. Kick forward with the lower limb while dorsiflexing the foot (pointing the toes); 2. During the backward movement of the lower limb, plantarflexion of the foot (extending the toes) and gradual flexion of the knee joint; 3. The lower limb swings behind the body, with the knee joint flexed and the heel in a bouncing motion (i.e., the foot bounces back); 4. The lower limb swings forward and upward from back, with the foot gradually changing from plantarflexion (extending the toes) to dorsiflexion (pointing the toes); 5. The lower limb moves forward and upward to the front of the body, with the knee joint straight and the ankle joint in a dorsiflexion (pointing the toes). In summary, the continuous completion of the five decomposed movement units of the forward and backward swing of the lower limb is recognized as a standard KOA-PT cycle.

[0006] However, existing treatment and rehabilitation equipment still has shortcomings: when using treatment and rehabilitation equipment for KOA-PT exercises, patients need to swing their legs and feet to perform reciprocating rehabilitation exercises of dorsiflexion-plantarflexion-dorsiflexion. However, existing leg-swinging equipment lacks a feedback mechanism for foot posture, making it impossible for users to perceive whether they have performed reciprocating rehabilitation exercises of dorsiflexion-plantarflexion-dorsiflexion. This affects the real-time self-correction of foot posture during the treatment and rehabilitation process, thereby affecting the treatment effect.

[0007] Therefore, there is an urgent need for an exoskeleton-type KOA-PT rehabilitation therapy device. Utility Model Content

[0008] The purpose of this application is to provide an exoskeleton-type KOA-PT rehabilitation therapy device to solve the problem of not being able to provide feedback on foot posture to users during KOA-PT rehabilitation therapy. The device is easy to wear and suitable for KOA users to use during KOA-PT rehabilitation therapy.

[0009] To achieve the above objectives, this utility model application provides the following technical solution: an exoskeleton-type KOA-PT rehabilitation therapy device, characterized in that it includes: a main exoskeleton frame and a lower leg linkage frame; the main exoskeleton frame is provided with a foot support space and a first connecting part; the lower leg linkage frame includes a lower leg connecting part and a second connecting part, the lower leg connecting part is disposed above the foot support space and is rotatably connected to the first connecting part through the second connecting part, the connecting point is disposed at or near the ankle joint, and the connecting point is provided with a target angle feedback mechanism.

[0010] By adopting the above technical solution, the user's foot and lower leg are confined in a predetermined space during KOA-PT exercise through two components: the main exoskeleton frame and the lower leg linkage frame. A target angle feedback mechanism is set at the connection point of these two components. This allows the user to receive feedback on whether the foot has performed dorsiflexion-plantarflexion-dorsiflexion movements during KOA-PT exercise, which includes five consecutive motion units. This enables the user to self-correct in time after perceiving the movement. As the user swings their leg, they actively exercise the calf muscles to better coordinate with the thigh muscles to achieve contraction and relaxation movements around the synovial bursa in the knee joint cavity. This improves the overall strength of the flexion and extension muscles of the swinging leg and enhances the efficiency of proprioceptive coordination.

[0011] It's worth noting that during KOA-PT exercises, the foot swings in a pendulum-like motion driven by the leg. KOA-PT further requires the foot to perform a reciprocating rehabilitation exercise of flexion-extension-flexion while simultaneously engaging the leg. Foot position and posture can be captured by measuring the relative displacement between the foot and a reference point set on the ground or a fixed device. However, the amount of foot movement relative to the fixed reference point is superimposed with the amount of leg movement relative to the fixed reference point, making it impossible to determine whether the user's foot is in dorsiflexion or plantarflexion. To eliminate the influence of leg movement, the reference point for foot movement should be used simultaneously with leg movement; a reference point is set on the leg, and a data acquisition device is set on the foot; measuring the displacement difference between the two yields the foot movement status. However, during KOA-PT exercises, the user's foot may rotate not only in the sagittal plane but also in the coronal plane. Values ​​acquired using existing distance sensors have significant errors and cannot measure the relative displacement between the foot and leg. This utility model application ingeniously transforms the problem of collecting linear displacement of the foot and leg into a solution for collecting changes in the angle of the foot and leg, while avoiding the influence of the rotation of the coronal plane of the user's foot on the collection of the sagittal plane angle during exercise.

[0012] Furthermore, a foot fixation member is provided at the end of the main exoskeleton frame away from the first connecting part. The foot fixation member is used to connect the main exoskeleton frame to the user's foot, keeping the user's foot relatively stationary with respect to the main exoskeleton frame; and the foot fixation member is located at the end away from the first connecting part, thereby increasing the stability of the foot and reducing the error caused to the acquisition angle α.

[0013] Furthermore, the foot fixing component is an adhesive component or a snap-fit ​​component. The foot fixing component can be implemented using adhesive components or snap-fit ​​components, and adhesive components include, but are not limited to, retaining rings, buckles, elastic bands, or Velcro.

[0014] Furthermore, a foot support plate is provided at the end of the main exoskeleton frame away from the first connecting part. The foot support plate is provided on the main exoskeleton frame to support the user's feet and prevent the feet from shifting towards the coronal plane during exercise.

[0015] Furthermore, a calf connector is fixedly provided on the calf connecting part. The calf connector is used to connect the calf connecting part to the user's calf, keeping the user's calf and the calf connecting part relatively stationary. The calf connector is a retaining ring, buckle, elastic band, or Velcro.

[0016] Furthermore, the compliance angle feedback mechanism collects the angle α between the second connecting part and the first connecting part, and feeds back a compliance signal when the angle α meets the preset conditions.

[0017] Furthermore, the preset condition is α = α G and / or α = α B α G ∈[20°,120°],α B ∈[60°,160°], α G α is the critical value for the user's foot dorsiflexion state. B The threshold value for plantar flexion of the user's foot, and α G＜ α B , and α G＜ α B α G and α B The value is preset; it can be a fixed value or a value set after data calibration based on the user's own situation.

[0018] As the user completes the dorsiflexion movement, the angle α between the main exoskeleton and the lower leg linkage gradually decreases until it is less than α. G At this time, the signal indicating that the dorsiflexion movement has been achieved reminds the user; the user continues to complete the KOA-PT movement, pointing the feet backward, and the angle α between the main exoskeleton frame and the lower leg linkage frame gradually increases until it is greater than α. B When the target is met, the signal will remind the user that the plantar flexion action has met the target.

[0019] Furthermore, the target angle feedback mechanism continuously collects the angle between the second connecting part and the first connecting part twice, with angles α1 and α2. The preset conditions are that the rehabilitation treatment device feeds a target signal when α1∈[20°,120°] and α2∈[60°,160°]; or when α1∈[60°,160°] and α2∈[20°,120°], the rehabilitation treatment device feeds a target signal.

[0020] KOA-PT exercise requires users to swing their legs and feet to perform reciprocating rehabilitation exercises of dorsiflexion and plantarflexion. Driven by the leg swinging, the angle between the second connecting part and the first connecting part successively meets the preset angle requirements of the dorsiflexion and plantarflexion movements, and the rehabilitation device feeds back a compliance signal. During the user's continuous leg swinging, the foot continuously completes the alternating reciprocating rehabilitation exercises of flexion and plantarflexion, and the rehabilitation device feeds back a compliance signal when both angles meet the preset conditions.

[0021] Furthermore, the second connecting part is hinged to the first connecting part. The target angle feedback mechanism includes a limiting block one and a limiting block two. The limiting block one and the limiting block two respectively limit the maximum angle of clockwise and counterclockwise rotation of the main exoskeleton frame relative to the lower leg linkage frame. When the limiting block one blocks the main exoskeleton frame, α = α G When the second limiting block blocks the main exoskeleton frame, α = α B .

[0022] Furthermore, it also includes a disc, which is disposed on the second connecting part. The first connecting part is connected to the center of the disc via a pin. The disc is provided with limiting block one and limiting block two along the rotation path of the main exoskeleton frame. By pre-setting limiting blocks in both clockwise and counterclockwise directions on the disc, corresponding to the critical values ​​of dorsiflexion and plantarflexion of the user's foot, the user is blocked by the limiting blocks during dorsiflexion and plantarflexion, thus perceiving the target tactile signal. This enables the user to perceive and self-correct foot movements during KOA-PT exercise, improving the treatment effect.

[0023] Furthermore, the compliance angle feedback mechanism includes an angle sensor with a signal transmission module, which sends a compliance signal when the angle α value collected by the angle sensor with the signal transmission module meets a preset range.

[0024] Furthermore, the critical value α of the user's foot dorsiflexion state G And the critical value α of the user's foot plantar flexion state B Based on user characteristics, the KOA-PT therapy includes pre-defined dorsiflexion and plantar flexion range requirements for users with different KL levels and physiological conditions. Users, under professional medical guidance, pre-determine their own foot dorsiflexion threshold α based on their own tolerance. G And the critical value α of the user's foot plantar flexion state B After calibration, the settings are completed, which helps to improve the therapeutic and rehabilitation effects of exercise therapy.

[0025] Furthermore, the achievement signal is a photoelectric and / or audio and / or video and / or tactile signal, used to indicate that the user's foot state has reached a specified condition. By experiencing sensory information collected by sensory organs such as photoelectric, sound, video, and touch, the user gains the recognition of achieving the action standard, generates self-motivation, and thus develops continuous compliance with KOA-PT exercise.

[0026] In one embodiment, the rehabilitation therapy device further includes a main control box, in which a main control board is disposed, and the angle sensor is electrically connected to the main control board.

[0027] Furthermore, the main control box is equipped with a gyroscope electrically connected to the main control board. The gyroscope is used to collect the three-axis angular velocity of the user's foot and simultaneously monitor the leg swing amplitude of the user's KOA-PT movement.

[0028] Furthermore, a wireless device is installed within the main control box to enable communication between the main control board and a remote server. Electrical signals collected by the angle sensor are transmitted to the remote server via the wireless device, where the remote server processes the information from the electrical signals.

[0029] In one embodiment, an elastic element connects the first connecting portion and the second connecting portion. This elastic element ensures that when the main exoskeleton frame is placed on the ground, the lower leg connecting portion of the lower leg linkage frame faces the user's lower leg. The elastic element facilitates the movable connection between the main exoskeleton frame and the lower leg linkage frame, enhances coronal plane stability during KOA-PT exercises, and makes donning and doffing easier for the user.

[0030] Furthermore, the first connecting part is located on both sides of the main exoskeleton frame and protrudes upward.

[0031] Furthermore, the second connecting part is located on the outside of the lower leg linkage frame and is hinged to the first connecting part.

[0032] Furthermore, the elastic element is an elastic cable, which is arranged circumferentially along the hinge axis between the second connection portion and the first connection portion.

[0033] Furthermore, the main exoskeleton frame includes a detachably connected toe fixing part and a heel fixing part, the toe fixing part and the heel fixing part together define the foot support space, and the first connecting part is disposed on the same side as the heel fixing part.

[0034] In this embodiment, the exoskeleton-type KOA-PT rehabilitation therapy device is designed with a retractable connection between the toe fixation part and the heel fixation part, guiding users to complete the putting on and taking off the device simply by adjusting their foot posture, without having to bend over or use their hands to put it on. This is extremely suitable for elderly users who are old and have difficulty walking.

[0035] Furthermore, the toe fixation part includes a toe fixation structure and a telescopic frame. The toe fixation structure is used to fix the patient's toes. The toe fixation structure is slidably connected to the heel fixation part through the telescopic frame, so that the distance between the toe fixation part and the heel fixation part is adjustable.

[0036] Furthermore, the toe fixing structure includes a toe support plate, an adjusting guide post, and a toe pressure plate. Two telescopic frames are provided and are respectively connected to both sides of the toe support plate. The adjusting guide post is vertically arranged on the toe support plate, and the toe pressure plate is arranged horizontally and slidably installed on the adjusting guide post.

[0037] Furthermore, the toe pressure plate is a flexible structural component.

[0038] Furthermore, the toe plate is provided with an upwardly inclined guide bend section on the side near the heel fixing part.

[0039] Furthermore, the telescopic frame is provided with a horizontally arranged sliding groove, and the outside of the sliding groove is covered with an elastic guide groove arranged in the same direction. A slider is protruding from the heel fixing part, and the slider is slidably embedded in the sliding groove and the elastic guide groove in sequence. A telescopic frame spring is provided between the ends of the slider and the elastic guide groove.

[0040] Furthermore, the lower leg connection portion contacts the front side of the human lower leg.

[0041] Furthermore, the lower leg connection portion contacts the posterior side of the human lower leg.

[0042] Furthermore, the heel fixing part includes a bottom support connecting strip and a heel connecting strip. The two ends of the bottom support connecting strip are respectively connected to the bottom of the two first connecting parts, and the two ends of the heel connecting strip are respectively connected to the ends of the two first connecting parts away from the toe fixing part.

[0043] Furthermore, the first connecting part is provided with a hollowed-out groove.

[0044] Furthermore, a counterweight is provided at the front end of the main exoskeleton frame.

[0045] This utility model also proposes a KOA-PT rehabilitation therapy device, which includes the above-mentioned exoskeleton-type KOA-PT rehabilitation therapy device and a foot pedal for the user to stand on one leg.

[0046] Furthermore, the KOA-PT rehabilitation device also includes a support device that provides upper limb support for the user, located above a foot pedal for the user to stand on one leg.

[0047] The exoskeleton-type KOA-PT rehabilitation device provided by this utility model confines two independent components, the main exoskeleton frame and the lower leg linkage frame, in a predetermined space, and sets an angle sensor at the connection point to realize the data collection of the user's foot status during KOA-PT exercise. It effectively presents the dynamic change process of the five movement units in KOA-PT exercise and guides the user to carry out KOA-PT rehabilitation training according to the standard KOA-PT therapy.

[0048] KOA-PT therapy requires users to swing their legs more than 1,000 times on each side every day for more than a year. It has a positive effect on reducing weight burden. Weight gain and neglect of proper lower limb muscle exercises are the main adverse factors in the development of KOA. The more weight you gain, the more painful your knee joints become, and the less you actively move your knee joints and the more you avoid them... a vicious cycle. KOA-PT exercises guided and supervised by this device are the key to breaking this vicious cycle!

[0049] Under the guidance of this device, users complete the KOA-PT movements, controlling the contraction of the calf muscles such as the tibialis anterior, gastrocnemius, and triceps surae, thereby exercising the calf muscles and nerves. When the calf muscles contract, they squeeze blood and lymph fluid in the calf, promoting blood circulation throughout the lower limbs. While KOA-PT exercises the muscles of the waist, buttocks, and legs, it can effectively improve the treatment effect of weak flexor muscles and poor lower limb circulation caused by cerebral palsy, stroke, etc.

[0050] The beneficial effects of this utility model are:

[0051] 1. This utility model is a device specifically designed for detecting and reminding users whether their foot movements meet the dorsiflexion-plantarflexion standard during KOA-PT rehabilitation exercises. The device confines the user's foot and lower leg within a predetermined space using two components: a main exoskeleton frame and a lower leg linkage frame. A target angle feedback mechanism is installed at the connection point of these two components, transforming complex movement changes into angular variations of the two components around the ankle joint and surrounding area. By collecting and feeding back the target angle, the device provides feedback on whether the foot has performed dorsiflexion-plantarflexion-dorsiflexion movements during KOA-PT exercises, which include five consecutive movement units. This allows users to actively exercise their calf muscles while swinging their legs, enabling better coordination between the calf and thigh muscles to achieve contraction and relaxation movements around the synovial bursa in the knee joint cavity. This enhances the overall strength of the flexion and extension muscles of the swinging leg and improves the efficiency of proprioceptive coordination. It guides and monitors users to complete muscle training according to the movement requirements specified in KOA-PT therapy, achieving standardization and compliance in KOA-PT rehabilitation exercises.

[0052] 2. This utility model adopts a lightweight skeleton structure design. The end of the main exoskeleton frame can be fixed to the user's finished shoe by means of adhesive or snap-fit, and the other end can be fixed to the lower leg to realize the detection and feedback of the standard foot for dorsiflexion-plantar flexion. While playing the role of standard foot detection, it is highly universal and easy to carry, allowing users to perform KOA-PT and standard foot treatment and rehabilitation exercises anytime and anywhere.

[0053] 3. In one example of this utility model, dorsiflexion-plantarflexion feedback is used as a single signal, which further demonstrates the compatibility of this device with the KOAPT leg swinging therapy. Through timely feedback of continuous dorsiflexion-plantarflexion signals, the user is constantly reminded that the target movement has been achieved, improving the user's exercise enjoyment and making the monotonous KOAPT exercise more entertaining, thus improving the compliance of KOAPT exercise. Furthermore, when the user completes the KOAPT movement under the guidance of this device, the tibialis anterior, gastrocnemius, and other calf muscle groups, as well as the triceps surae muscle, are controlled to contract, thereby achieving the purpose of exercising the calf muscles and calf muscle nerves. Moreover, when the calf muscles contract, the muscles squeeze the blood and lymph in the calf, promoting blood circulation in the entire lower limb. While achieving the goal of exercising the waist, buttocks, and leg muscles in KOAPT, it can also effectively improve the treatment effect of weak gait muscles and poor lower limb circulation caused by cerebral palsy, stroke, etc.

[0054] 4. This utility model, through the design of a retractable connection between the toe fixing part and the heel fixing part, guides users to complete the putting on and taking off of the device simply by adjusting the movement of their feet, without having to bend over or use their hands. It is extremely suitable for elderly users with mobility issues. Furthermore, the retractable connection method of this utility model can be used by users with different foot sizes, improving the flexibility and versatility of this device for different users.

[0055] 5. The exoskeleton-type KOA-PT rehabilitation therapy device provided by this utility model is perfectly compatible with the KOA-PT therapy. Attached Figure Description

[0056] Figure 1 This is a three-dimensional structural diagram of the exoskeleton-type KOA-PT rehabilitation therapy device provided in Embodiment 1 of this utility model;

[0057] Figure 2 This is a schematic diagram showing the relationship between angle α, the critical value of the user's foot dorsiflexion state, and the critical value of the user's foot plantarflexion state;

[0058] Figure 3 This is a schematic diagram showing the relationship between angles α1 and α2;

[0059] Figure 4 This is a three-dimensional structural diagram of the exoskeleton-type KOA-PT rehabilitation therapy device provided in Embodiment 4 of this utility model;

[0060] Figure 5 This is a schematic diagram of the compliance angle feedback mechanism of the limiting groove structure in Embodiment 4 of this utility model;

[0061] Figure 6 These are exploded structural diagrams of the exoskeleton-type KOA-PT rehabilitation therapy device provided in Embodiments 7 and 8 of this utility model;

[0062] Figure 7 This is a schematic diagram of the wearing method of the exoskeleton-type KOA-PT rehabilitation therapy device provided in Embodiments 7 and 8 of this utility model;

[0063] Figure 8 This is a schematic diagram of the structure of the exoskeleton-type KOA-PT rehabilitation therapy device after it has been worn, as provided in Embodiments 7 and 8 of this utility model.

[0064] In the diagram: 1-Main exoskeleton frame; 1a-Foot support space; 1b-First connecting part; 1c-Foot fixation component; 1d-Foot support plate; 2-Lower leg linkage frame; 2a-Lower leg connecting part; 2b-Second connecting part; 2c-Lower leg connecting component; 3-Target angle feedback mechanism; 4-Elastic component; 5-Main control box; 6-Limiting block; 11-Toe fixing part; 12-Heel fixing part; 12a-Slider; 51-Main control board; 52 - Battery; 111 - Toe fixing structure; 112 - Telescopic frame; 121 - Base support connecting strip; 122 - Heel connecting strip; 123 - Hollowed-out groove; 1111 - Toe support plate; 1112 - Adjusting guide post; 1113 - Toe pressure plate; 1114 - Guide bending section; 1121 - Slide groove; 1122 - Elastic guide groove; 1123 - Telescopic frame spring; 21 - Disc; 211 - Limiting block one; 212 - Limiting block two. Detailed Implementation

[0065] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0066] Example 1

[0067] like Figure 1As shown, this utility model embodiment provides an exoskeleton-type KOA-PT rehabilitation therapy device, including a main exoskeleton frame 1 and a lower leg linkage frame 2. The main exoskeleton frame 1 is provided with a foot support space 1a and a first connecting part 1b; the lower leg linkage frame 2 includes a lower leg connecting part 2a and a second connecting part 2b. The lower leg connecting part 2a is located above the foot support space 1a and is rotatably connected to the first connecting part 1b via the second connecting part 2b. The connection point is located at or near the ankle joint. A target angle feedback mechanism 3 is provided at the connection point. The target angle feedback mechanism 3 collects the angle α between the second connecting part 2b and the first connecting part 1b. When the angle α meets a preset condition, a target signal is fed back. The preset condition is α = α G Or α = α B ,like Figure 2 As shown, α G ∈[20°,120°],α B ∈[60°,160°], α G α is the critical value for the user's foot dorsiflexion state. B α represents the critical value for plantar flexion of the user's foot. G and α B The value of α is pre-calibrated based on user characteristics, and α G <α B .

[0068] Example 2

[0069] The difference between this embodiment and Embodiment 1 is that when the preset condition is α = α G and α=α B α G ∈[20°,120°],α B ∈[60°,160°], α G α is the critical value for the user's foot dorsiflexion state. B α represents the critical value for plantar flexion of the user's foot. G and α B The value of α is pre-calibrated based on user characteristics, and α G <α B .

[0070] Example 3

[0071] As a preferred implementation, the compliance angle feedback mechanism 3 continuously collects the included angles α1 and α2 between the second connecting part 2b and the first connecting part 1b twice, such as... Figure 3 As shown, the preset condition is α1∈[0°,α G And α2∈[α B The rehabilitation therapy device provides a signal indicating that the target has been met when the temperature reaches 200°; or α1∈[α... B ,200°]and α2∈[0°,α GThe rehabilitation device provides feedback signals indicating that the target has been achieved. When the user performs KOA-PT exercises, the foot continuously completes alternating reciprocating rehabilitation movements of flexion and plantar flexion. The rehabilitation device provides feedback signals indicating that the target has been achieved when both angles meet the preset conditions, in order to guide the user to complete the set training goals according to the standard KOA-PT therapy.

[0072] Example 4

[0073] like Figure 4 As shown, in this embodiment, a foot fixing member 1c is provided at the end of the main exoskeleton frame 1 away from the first connecting part 1b. The foot fixing member 1c is an adhesive or snap-fit ​​component. A foot support plate 1d is provided at the end of the main exoskeleton frame 1 away from the first connecting part 1b. A lower leg connector 2c is fixedly provided on the lower leg connecting part 2a. The lower leg connector 2c is a retaining ring, buckle, elastic band, or Velcro.

[0074] The exoskeleton-type KOA-PT rehabilitation therapy device provided in this embodiment can be conveniently and easily used with ready-made shoes. The end of the main exoskeleton frame 1 is fixed to the user's ready-made shoes by means of adhesive or snap-fit, and the other end is fixed to the lower leg to realize the detection and feedback of the standard foot for dorsiflexion-plantar flexion.

[0075] Example 5

[0076] The difference between this embodiment and embodiments 1-4 is that the compliance signal is a tactile compliance signal blocked by the limiting block. Specifically, the compliance angle feedback mechanism 3 includes a disc 21 and limiting block one 211 and limiting block two 212. The disc 21 is disposed on the second connecting part 2b, and the first connecting part 1b is connected to the center of the disc 21 via a pin. Limiting block one 211 and limiting block two 212 are disposed on the disc 21 along the path of rotation of the main exoskeleton frame 1. Limiting block one 211 and limiting block two 212 respectively limit the maximum angle of rotation of the main exoskeleton frame 1 relative to the lower leg linkage frame clockwise and counterclockwise. When limiting block one 211 blocks the main exoskeleton frame 1, α = α G When limit block 212 blocks the main exoskeleton frame 1, α = α B Another implementation method of the target angle feedback mechanism 3 is as follows: Figure 5 As shown, a limiting groove is provided on the disk 21, and the pin on the first connecting part 1b is inserted into the limiting groove. The pin blocks the two ends of the limiting groove, which correspond to α = α respectively. G and α=α B .

[0077] When the user performs a dorsiflexion movement of the foot, the main exoskeleton frame 1 moves clockwise towards the lower leg linkage frame 2, and the angle α decreases until it is blocked by the limiting block 211. At this point, the angle α is equal to the critical value α of the user's foot dorsiflexion state. GThe user's tactile feedback indicates that the dorsiflexion movement is satisfactory; similarly, when the user performs plantar flexion, the main exoskeleton frame 1 moves counterclockwise away from the lower leg linkage frame 2, increasing the angle α until it is blocked by the limiting block 212. At this point, the angle α is equal to the critical value α of the user's plantar flexion state. B The user's tactile feedback indicates that the plantar flexion movement meets the standard.

[0078] Example 6

[0079] The difference between this embodiment and embodiment 5 is that the achievement signal is photoelectric and / or audio and / or video and / or tactile signal, used to indicate that the user's foot dorsiflexion state and / or the user's foot plantarflexion state have been achieved.

[0080] Example 7

[0081] In this embodiment, the target angle feedback mechanism 3 is an angle sensor containing a signal transmission module. When the angle α value collected by the angle sensor containing the signal transmission module meets the preset range, it outputs a signal, and the rehabilitation therapy device feeds back the target signal. The angle sensor 3 is set at the hinge of the second connecting part 2b and the first connecting part 1b. Its fixed end is fixed on the hinge hole of the first connecting part 1b, and its rotating end is fixed on the hinge hole of the second connecting part 2b. After the user completes the wearing, when performing KOA-PT exercises, the lower leg connecting part 2a will also rotate relative to the main exoskeleton frame 1 under the push of the user's lower leg, following the relative swing of the user's lower leg and foot. At this time, the rotating end of the angle sensor 3 will also rotate synchronously with the second connecting part 2b relative to the fixed end, so as to monitor the angle change between the lower leg linkage frame 2 and the main exoskeleton frame 1 in real time, and use it to determine whether the user's foot is in a dorsiflexion state and / or a plantarflexion state.

[0082] In this embodiment, a main control box 5 is provided on the lower leg connecting part 2a. The main control box 5 contains a main control board 51, a battery 52, and a gyroscope. The angle sensor 3, battery 52, and gyroscope are all electrically connected to the main control board 51. Exemplarily, in this embodiment of the present invention, in addition to using the angle sensor 3 to monitor the angle change between the lower leg linkage frame 2 and the main exoskeleton frame 1 in real time to realize foot status acquisition, the gyroscope is also used to monitor the velocity 2 of the user's foot in space, and the data is collected and uploaded through the main control box 5 to improve the comprehensiveness of monitoring. The main control board 51 is equipped with a computer program. The computer program sends control commands to the feedback device according to the acquired angle α value. The feedback device triggers the corresponding achievement signal to present the user's foot status in real time and guide the user to complete rehabilitation training.

[0083] like Figure 6 As shown, a wireless device is installed inside the main control box 5, which is used to enable the main control board 51 to communicate with the remote server.

[0084] The remote server is equipped with the KOAPT computer program. The KOAPT computer program determines the user's foot status based on the collected angle α value, records the user's foot status, sends feedback instructions to the application terminal, and guides the user to complete rehabilitation training according to the KOAPT treatment model through the achievement signal.

[0085] The application is deployed on mobile or fixed devices.

[0086] Example 8

[0087] like Figures 6-8 As shown, the main exoskeleton frame 1 has first connecting parts 1b protruding upwards on both sides. The lower leg linkage frame 2 includes a lower leg connecting part 2a and second connecting parts 2b disposed on both sides of the lower leg connecting part 2a. The lower leg connecting part 2a is disposed above the foot support space 1a and is hinged to the two first connecting parts 1b respectively through the two second connecting parts 2b. An angle sensor 3 is disposed at the hinge point between the second connecting part 2b and the first connecting part 1b.

[0088] Optionally, an elastic element 4 connects the first connecting part 1b and the second connecting part 2b. Exemplarily, in this embodiment of the invention, an elastic cable is provided between the first connecting part 1b and the second connecting part 2b, and the elastic cable is arranged circumferentially along the hinge axis between the second connecting part 2b and the first connecting part 1b. That is, the elastic cable extends in an arc shape in its normal state, which can limit the relative position of the main exoskeleton frame 1 and the lower leg linkage frame 2, making it convenient for the user to wear. When the user performs KOA-PT or rehabilitation walking training, as the lower leg connecting part 2a rotates relative to the main exoskeleton frame 1, the elastic cable will also stretch or contract in its extension direction, without affecting the user's dorsiflexion process. After the foot training is completed and the foot is disengaged, the elastic cable will, under its elastic action, rotate the main exoskeleton frame 1 and the lower leg linkage frame 2 back to their initial positions, achieving automatic reset, facilitating the next use and effectively improving practicality.

[0089] Optionally, the main exoskeleton frame 1 includes a detachably connected toe fixing part 11 and a heel fixing part 12, which together define a foot support space 1a. A first connecting part 1b is disposed on the side of the heel fixing part 12. Exemplarily, in this embodiment of the present invention, the main exoskeleton frame 1 is composed of a detachable assembly structure, which can be disassembled for production, maintenance, and storage during the assembly stage and when not in use.

[0090] Optionally, the toe-fixing part 11 includes a toe-fixing structure 111 and a telescopic frame 112. The toe-fixing structure 111 is used to fix the user's toes. The toe-fixing structure 111 is slidably connected to the heel-fixing part 12 through the telescopic frame 112. The distance between the toe-fixing part 11 and the heel-fixing part 12 is adjustable. Exemplarily, in this embodiment of the present invention, when the user's foot steps on the main exoskeleton frame 1, the distance between the toe-fixing part 11 and the heel-fixing part 12 can be adjusted according to actual needs. The toes of the user's foot can be positioned using the toe-fixing part 11. By pushing the toe-fixing structure 111 forward, the telescopic frame 112 can extend and retract relative to the heel-fixing part 12 to accommodate users with different foot sizes and improve overall adaptability.

[0091] Optionally, the telescopic frame 112 is provided with a horizontally arranged groove 1121, and the outside of the groove 1121 is covered with an elastic guide groove 1122 arranged in the same direction. A slider 12a protrudes from the heel fixing part 12, and the slider 12a is slidably embedded in the groove 1121 and the elastic guide groove 1122 in sequence. A telescopic frame spring 1123 is provided between the ends of the slider 12a and the elastic guide groove 1122. Exemplarily, in this embodiment of the present invention, when the user's foot extends forward against the toe fixing structure 111, the telescopic frame spring 1123 embedded in the elastic guide groove 1122 will also be stretched accordingly, providing a retraction force between the toe fixing part 11 and the heel fixing part 12, further ensuring that the foot support space 1a fits tightly with the user's foot, adapting to different foot lengths and ensuring adaptability.

[0092] Optionally, the toe-fixing structure 111 includes a toe support plate 1111, an adjusting guide post 1112, and a toe pressure plate 1113. Two telescopic frames 112 are provided and respectively connected to both sides of the toe support plate 1111. The adjusting guide post 1112 is vertically mounted on the toe support plate 1111, and the toe pressure plate 1113 is arranged horizontally and slidably mounted on the adjusting guide post 1112. Exemplarily, in this embodiment of the invention, when the user's foot steps on the main exoskeleton frame 1, the front of the user's foot steps on the toe support plate 1111 and presses against the adjusting guide post 1112 for support and lateral positioning. For different user toe heights, the toe pressure plate 1113 can be adjusted vertically by sliding up and down to achieve longitudinal pressing and positioning, ensuring the wearing stability of the user's toes and further improving overall adaptability.

[0093] Optionally, the toe plate 1113 is a flexible structural component. For example, in this embodiment of the invention, the toe plate 1113 can be made of a flexible material such as plastic, ensuring that the user's foot can deform to some extent when inserted into the toe fixing part 11, thus ensuring smooth wearing. Furthermore, the toe plate 1113 has an upwardly inclined guide bend section 1114 on the side near the heel fixing part 12, which further guides the front of the user's foot, preventing it from jamming and becoming difficult to insert, further improving the smoothness of wearing.

[0094] Optionally, the heel fixing part 12 includes a bottom support connecting strip 121 and a heel connecting strip 122. Both ends of the bottom support connecting strip 121 are connected to the bottoms of the two first connecting parts 1b, and both ends of the heel connecting strip 122 are connected to the ends of the two first connecting parts 1b away from the toe fixing part 11. A hollow groove 123 is provided on the first connecting part 1b. Exemplarily, in this embodiment of the utility model, the heel fixing part 12 with the above structure supports the bottom of the user's heel from below through the bottom support connecting strip 121 and supports the rear of the user's heel through the heel connecting strip 122. Together with the toe fixing part 11, it provides overall support and positioning for the user's foot, and can reduce the overall weight of the exoskeleton-type foot flexion counter monitor, reducing the burden on the user.

[0095] In this implementation, a counterweight 6 is installed at the front end of the main exoskeleton frame 1 to assist the user in weight-bearing training. The mass of the counterweight 6 is set according to the requirements of the KOA-PT therapy and can be placed on the outer side of the front tip fixation part of the main exoskeleton frame 1. When the user performs KOA-PT exercises, the foot overcomes the gravity of the counterweight 6 to complete dorsiflexion and plantarflexion movements, which is beneficial for strengthening the flexor and extensor muscles of the lower leg around the ankle joint.

[0096] Example 9

[0097] This embodiment provides a KOA-PT rehabilitation therapy device, which includes the exoskeleton-type KOA-PT rehabilitation therapy device described in any one of embodiments 1 to 8, a foot pedal for the user to stand on one leg, and a support device for providing upper limb support for the user. The support device is located above the foot pedal for the user to stand on one leg.

[0098] Example 10

[0099] This embodiment provides a method for using an exoskeleton-type KOA-PT rehabilitation therapy device, implemented based on any one of the exoskeleton-type KOA-PT rehabilitation therapy devices in embodiments 1 to 8, including the following steps:

[0100] The S1 user inserts their foot into the foot support space 1a on the main exoskeleton frame 1, places their toes on the foot support space 1a, and moves their heel down to the lowest point so that their lower leg fits into the lower leg linkage frame 2, thus completing the wearing process.

[0101] S2 users swing their legs and sequentially complete the actions of extending their feet forward, hooking their toes, moving their toes downward and backward, and bending and straightening their insteps. During the movement, the connection between the main exoskeleton frame 1 and the lower leg linkage frame 2 rotates, and the target angle feedback mechanism collects the angle α of the relative movement between the second connection part 2b and the first connection part 1b.

[0102] The compliance angle feedback mechanism described in S3 transmits the collected data to the main control board 51, which then processes the data and sends out a compliance signal.

[0103] Example 11

[0104] This embodiment provides the use of an exoskeleton-type KOA-PT rehabilitation therapy device for treating KOA, arthritis, and knee joint diseases using any one of the above embodiments 1 to 8.

[0105] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains. The terms “first,” “second,” and similar terms used in this patent application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms “an” or “a” and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms “comprising” or “including” and similar terms mean that the elements or objects preceding “comprising” or “including” encompass the elements or objects listed following “comprising” or “including” and their equivalents, and do not exclude other elements or objects. The terms “connected” or “linked” and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The terms “upper,” “lower,” “left,” and “right” are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0106] The above description is only an optional embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An exoskeleton-type KOA-PT rehabilitation therapy device, characterized in that, include: The main exoskeleton frame (1) and the lower leg linkage frame (2) are provided with a foot support space (1a) and a first connecting part (1b). The lower leg linkage frame (2) includes a lower leg connecting part (2a) and a second connecting part (2b). The lower leg connecting part (2a) is located above the foot support space (1a) and is rotatably connected to the first connecting part (1b) through the second connecting part (2b). The connection is located at or near the ankle joint. The connection is provided with a target angle feedback mechanism (3).

2. The exoskeleton-type KOA-PT rehabilitation therapy device according to claim 1, characterized in that: The main exoskeleton frame (1) is provided with a foot fixation member (1c) at the end away from the first connecting part (1b).

3. The exoskeleton-type KOA-PT rehabilitation therapy device according to claim 2, characterized in that: The foot fixing component is an adhesive component or a snap-fit ​​component.

4. The exoskeleton-type KOA-PT rehabilitation therapy device according to claim 1, characterized in that: The main exoskeleton frame (1) is provided with a foot support plate (1d) at the end away from the first connecting part (1b).

5. The exoskeleton-type KOA-PT rehabilitation therapy device according to claim 1, characterized in that: A lower leg connector (2c) is fixedly provided on the lower leg connecting part (2a).

6. The exoskeleton-type KOA-PT rehabilitation therapy device according to claim 5, characterized in that: The lower leg connector is a snap ring, buckle, elastic band, or Velcro.

7. The exoskeleton-type KOA-PT rehabilitation therapy device according to claim 1, characterized in that: The compliance angle feedback mechanism (3) collects the angle α between the second connecting part (2b) and the first connecting part (1b), and feeds back a compliance signal when the angle α meets the preset conditions.

8. The exoskeleton-type KOA-PT rehabilitation therapy device according to claim 7, characterized in that: The preset condition is α=α G and / or α=α B α G ∈[20°,120°],α B ∈[60°,160°], α G α is the critical value for the user's foot dorsiflexion state. B The threshold value for plantar flexion of the user's foot, and α G＜ α B .

9. The exoskeleton-type KOA-PT rehabilitation therapy device according to claim 8, characterized in that: The compliance angle feedback mechanism (3) continuously collects the angle between the second connecting part (2b) and the first connecting part (1b) twice, which are α1 and α2, with the preset condition being α1∈[0°, α2]. G And α2∈[α B The rehabilitation therapy device provides feedback on the target achievement signal at 200°; or α1∈[α B ,200°] and α2∈[0°, α G The rehabilitation therapy device provides feedback on the achievement of the target.

10. The exoskeleton-type KOA-PT rehabilitation therapy device according to any one of claims 2 to 9, characterized in that: The second connecting part (2b) is hinged to the first connecting part (1b). The standard angle feedback mechanism (3) includes a first limiting block (211) and a second limiting block (212). The first limiting block (211) and the second limiting block (212) respectively limit the maximum angle of rotation of the main exoskeleton frame (1) relative to the lower leg linkage frame in a clockwise and counterclockwise direction.

11. The exoskeleton-type KOA-PT rehabilitation therapy device according to claim 10, characterized in that: It also includes a disc (21), which is disposed on the second connecting part (2b). The first connecting part (1b) is connected to the center of the disc (21) by a pin. The disc (21) is provided with the limiting block one (211) and the limiting block two (212) on the path of rotation of the main exoskeleton frame (1).

12. The exoskeleton-type KOA-PT rehabilitation therapy device according to claim 7, characterized in that: The compliance angle feedback mechanism (3) includes an angle sensor with a transmission signal module. When the angle α value collected by the angle sensor with the transmission signal module meets the preset range, a compliance signal is fed back.

13. The exoskeleton-type KOA-PT rehabilitation therapy device according to claim 12, characterized in that: The α G and α B It is obtained by pre-calibrating based on user characteristics.

14. The exoskeleton-type KOA-PT rehabilitation therapy device according to claim 13, characterized in that: The compliance signal is a photoelectric and / or audio and / or video and / or tactile signal, used to indicate that the user's foot has reached a dorsiflexion state and / or a plantarflexion state.

15. The exoskeleton-type KOA-PT rehabilitation therapy device according to claim 12, characterized in that: The rehabilitation therapy device also includes a main control box (5), in which a main control board (51) is provided, and the angle sensor is electrically connected to the main control board (51).

16. The exoskeleton-type KOA-PT rehabilitation therapy device according to claim 15, characterized in that: The main control box (5) is equipped with a gyroscope that is electrically connected to the main control board (51).

17. The exoskeleton-type KOA-PT rehabilitation therapy device according to claim 15, characterized in that: The main control box (5) is equipped with a wireless device, which is used to enable the main control board (51) to communicate with a remote server.

18. The exoskeleton-type KOA-PT rehabilitation therapy device according to claim 1, characterized in that: An elastic element (4) is connected between the first connecting part (1b) and the second connecting part (2b). The elastic element (4) is used to ensure that when the main exoskeleton frame (1) is placed on the ground, the lower leg connecting part (2a) of the lower leg linkage frame (2) faces the human lower leg.

19. The exoskeleton-type KOA-PT rehabilitation therapy device according to claim 1, characterized in that: The first connecting part (1b) is located on both sides of the main exoskeleton frame (1) and protrudes upward.

20. The exoskeleton-type KOA-PT rehabilitation therapy device according to claim 18, characterized in that: The elastic element (4) is an elastic cable, which is arranged circumferentially along the hinge axis between the second connecting part (2b) and the first connecting part (1b).

21. The exoskeleton-type KOA-PT rehabilitation therapy device according to claim 1, characterized in that: The main exoskeleton frame (1) includes a detachably connected toe fixing part (11) and a heel fixing part (12), the toe fixing part (11) and the heel fixing part (12) together define the foot support space (1a), and the first connecting part (1b) is disposed on the same side as the heel fixing part (12).

22. The exoskeleton-type KOA-PT rehabilitation therapy device according to claim 21, characterized in that: The toe fixing part (11) includes a toe fixing structure (111) and a telescopic frame (112). The toe fixing structure (111) is used to fix the patient's toes. The toe fixing structure (111) is slidably connected to the heel fixing part (12) through the telescopic frame (112) so that the distance between the toe fixing part (11) and the heel fixing part (12) is adjustable.

23. The exoskeleton-type KOA-PT rehabilitation therapy device according to claim 22, characterized in that: The toe fixing structure (111) includes a toe support plate (1111), an adjusting guide post (1112), and a toe pressure plate (1113). Two telescopic frames (112) are provided and are respectively connected to both sides of the toe support plate (1111). The adjusting guide post (1112) is vertically arranged on the toe support plate (1111). The toe pressure plate (1113) is arranged horizontally and slidably installed on the adjusting guide post (1112).

24. The exoskeleton-type KOA-PT rehabilitation therapy device according to claim 23, characterized in that: The toe pressure plate (1113) is a flexible structural component.

25. The exoskeleton-type KOA-PT rehabilitation therapy device according to claim 24, characterized in that: The toe plate (1113) has an upwardly inclined guide bend (1114) on the side near the heel fixing part (12).

26. The exoskeleton-type KOA-PT rehabilitation therapy device according to claim 23, characterized in that: The telescopic frame (112) is provided with a horizontally arranged slide groove (1121), and the slide groove (1121) is covered with an elastic guide groove (1122) arranged in the same direction. A slider (12a) is provided on the heel fixing part (12), and the slider (12a) is slidably embedded in the slide groove (1121) and the elastic guide groove (1122) in sequence. A telescopic frame spring (1123) is provided between the ends of the slider (12a) and the elastic guide groove (1122).

27. The exoskeleton-type KOA-PT rehabilitation therapy device according to claim 21, characterized in that: The heel fixing part (12) includes a bottom connecting strip (121) and a side connecting strip (122). The two ends of the bottom connecting strip (121) are respectively connected to the bottom of the two first connecting parts (1b), and the two ends of the side connecting strip (122) are respectively connected to the ends of the two first connecting parts (1b) away from the toe fixing part (11).

28. The exoskeleton-type KOA-PT rehabilitation therapy device according to any one of claims 21-27, characterized in that: The lower leg connection (2a) is in contact with the front side of the human lower leg.

29. The exoskeleton-type KOA-PT rehabilitation therapy device according to any one of claims 21-27, characterized in that: The lower leg connection (2a) contacts the posterior side of the human lower leg.

30. The exoskeleton-type KOA-PT rehabilitation therapy device according to claim 1, characterized in that: The first connecting part (1b) is provided with a hollow groove (123).

31. The exoskeleton-type KOA-PT rehabilitation therapy device according to claim 1, characterized in that: The main exoskeleton frame (1) is equipped with a counterweight (6) at its front end.

32. A KOA-PT rehabilitation therapy device, characterized in that: The device includes the exoskeleton-type KOA-PT rehabilitation therapy device as described in any one of claims 1 to 31 and a foot pedal for the user to stand on one leg.

33. The KOA-PT rehabilitation therapy device according to claim 32, characterized in that: It also includes a support device that provides upper limb support for the user, the support device being located above a footrest for the user to stand on one leg.

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