Rigid-flexible coupling ankle rehabilitation device integrating force touch perception

Abstract

The rigid-flexible coupling ankle rehabilitation device comprises a movable platform, a fixed platform, a first driving branch, a second driving branch, a third driving branch, a fourth driving branch, a constraint branch chain and a spring, the movable platform is composed of a working device, a mechanical sensor and a touch sensor. The first driving branch is composed of a base, a T-shaped shaft hooke joint, a motor, a flexible rope, a pulley and a spherical hinge. The first, second, third and fourth driving branches are completely the same in structure; the constraint branch chain is a rigid telescopic push rod with adjustable height, the push rod is connected with the fixed platform through screw fastening, the connecting rods are connected through a revolute pair, and the connecting rods and the movable platform are connected through a revolute pair; and four telescopic springs are arranged between the movable platform and the fixed platform. The rehabilitation training device has rigid and flexible characteristics, supports multi-dimensional motion control, integrates mechanical and tactile sensors, can acquire motion data and tactile feedback information of a patient in real time, and realizes fine monitoring and dynamic adjustment of a rehabilitation training process.

Description

Technical Field

[0001] This utility model relates to the field of rehabilitation medical devices, specifically to the field of ankle joint rehabilitation devices, and particularly to a rigid-flexible coupled ankle rehabilitation device that integrates force and touch sensing. Background Technology

[0002] The ankle joint, a key component of human movement, plays a vital role in maintaining balance while walking. In recent years, the number of people suffering ankle injuries due to illness or accidents has been steadily increasing. Patients are demanding more sophisticated ankle rehabilitation devices, expecting them to possess excellent characteristics such as compact structure, high repeatability, and diverse training modes to adapt to different rehabilitation stages and individual conditions. Existing ankle rehabilitation robots have relatively limited functions, mostly only offering either passive or active rehabilitation training modes, making it difficult to meet the differentiated rehabilitation training needs of patients with varying degrees of injury.

[0003] Existing ankle rehabilitation devices suffer from complex overall structures, with internal branches prone to interference during operation, which can easily cause secondary injuries to patients. These devices generally lack the ability to flexibly adjust exercise parameters and modes according to the individual patient's condition, resulting in poor fit and coordination between the patient's ankle and the device. Consequently, they cannot tailor personalized rehabilitation treatment plans for patients and fail to achieve the desired rehabilitation goals. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of existing ankle rehabilitation structures, such as complex structures, easy interference of branches, and the time-consuming and laborious nature of traditional ankle rehabilitation methods. It provides a rigid-flexible coupled ankle rehabilitation device that integrates force and touch perception to meet the needs of different patients for ankle rehabilitation functions.

[0005] The technical solution adopted in this utility model includes:

[0006] A rigid-flexible ankle rehabilitation device integrating force and tactile sensing includes a moving platform, a fixed platform, a first drive branch, a second drive branch, a third drive branch, a fourth drive branch, a constraint chain, and springs. The moving platform consists of a working device, a force sensor, and a tactile sensor. The first drive branch consists of a base, a T-shaped shaft Hooke's joint, a motor, a flexible rope, a pulley, and a ball joint. The first drive branch is connected to the fixed platform via the Hooke's joint and to the moving platform via the ball joint. The motor is fixed on a motor support and drives the roller to rotate. The flexible rope is wound around the roller and the pulley. The second, third, and fourth drive branches have the same structure as the first drive branch. The constraint chain is a height-adjustable rigid telescopic push rod, which is fastened to the fixed platform with screws. The connecting rods and the moving platform are connected by revolute joints, and the axes of the three revolute joints spatially converge at the virtual center of the ankle joint. Four telescopic springs are installed between the moving platform and the fixed platform.

[0007] The moving platform consists of a working device, a force sensor, and a tactile sensor. The bottom of the working device is composed of a rectangle and two semicircles, and is equipped with rubber anti-slip pads. It has protrusions around its perimeter, with the rear protrusion higher than the left and right ends. The force sensor and tactile sensor are installed in the middle and rear of the moving platform. The sensors are fastened to the moving platform with screws and, after processing the collected information, issue commands to the motor.

[0008] The first drive branch is located at the right front end of the moving platform. The ball joint base is located below the right side of the moving platform and connected to the pulley, which is fixed by screws. The first and second rotating shafts of the Hooke joint form a T-shape, with the starting point of the second rotating shaft being the midpoint of the first rotating shaft. The axes of the first and second rotating joints of the Hooke joint are perpendicular to each other. The flexible rope is driven by a motor to wind around the roller. When viewed from the middle section of the roller, the winding directions of the rope are opposite. The Hooke joint is connected to the motor support through a bearing, and the motor is fixed to the motor support with screws. The flexible rope connects the upper and lower platforms by winding between the motor roller and the pulley.

[0009] The constraint branch is a rigid telescopic push rod whose height is adjusted by a pin. The telescopic push rod is fastened to the fixed platform by screws. The telescopic push rod is connected to the first link through a revolute joint R1. The first link is connected to the second link through a revolute joint R2. The second link is connected to the moving platform through a revolute joint R3. The extended axes of the three revolute joints converge at the virtual center of motion of the ankle joint in space.

[0010] The telescopic spring has threads at both ends. The upper end is added into the threaded groove of the moving platform, and the lower end is fixed to the fixed platform by a nut. The geometric centers of the bottom circles of the four springs form a rectangle, and the geometric centers of the top circles always remain in the same plane.

[0011] The present invention has the following beneficial effects: (1) The rigid-flexible coupling structure is lighter, reducing the overall weight of the robot, saving materials, reducing energy consumption, and making it easy to carry; (2) The flexible part of the rigid-flexible coupling structure can play a role in buffering and shock absorption, effectively reducing the impact force between the device and the patient's ankle joint, and reducing the possibility of secondary injury; (3) The moving platform is equipped with mechanical sensors and tactile sensors to capture motion data in real time and realize personalized rehabilitation training; (4) The height of the lower push rod is adjustable and flexible constraints are adopted, which allows the ankle joint rehabilitation mechanism to adjust the support angle of the device according to the actual situation of different patients, so that the patient's ankle is in a relaxed state to achieve the best rehabilitation effect. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of a rigid-flexible coupled ankle rehabilitation device with force-touch sensing according to this utility model.

[0013] Figure 2 This is a schematic diagram of the moving platform of a rigid-flexible coupled ankle rehabilitation device with force-touch sensing according to this utility model;

[0014] Figure 3 This is a schematic diagram of the first drive branch structure of a rigid-flexible coupled ankle rehabilitation device with force-touch sensing according to this utility model.

[0015] Figure 4 This is a schematic diagram of the constraint branch structure of a rigid-flexible coupled ankle rehabilitation device with force-touch sensing according to this utility model.

[0016] Figure 5 This is a schematic diagram of the spring structure of a rigid-flexible coupled ankle rehabilitation device that integrates force and touch sensing according to this utility model.

[0017] in:

[0018] Figure 1 In the middle: 1. Moving platform; 2. Fixed platform; 3. First drive branch; 4. Second drive branch; 5. Third drive branch; 6. Fourth drive branch; 7. Constraint branch; 8. Telescopic spring;

[0019] Figure 2 In the middle: 11. Platform body; 12. Mechanical sensor; 13. Tactile sensor; 14. Anti-slip rubber pad;

[0020] Figure 3 In Chinese: 31. Ball joint; 32. T-type Hooke joint; 33. Flexible rope; 34. Motor; 35. Roller; 36. Pulley; 37. Bearing;

[0021] Figure 4In the middle: 71. Telescopic push rod; 72. First connecting rod; 73. Second connecting rod; 74. Revolute joint R1; 75. Revolute joint R2; 76. Revolute joint R3;

[0022] Figure 5 81. Extension spring; 82. Nut. Detailed Implementation

[0023] To further understand the rigid-flexible coupling ankle rehabilitation device with force-touch sensing provided by this utility model, the following detailed description of this utility model is given in conjunction with the accompanying drawings and detailed embodiments. The content of this utility model is not limited to the embodiments.

[0024] like Figure 1 A rigid-flexible ankle rehabilitation device integrating force and tactile sensing includes a moving platform 1, a fixed platform 2, a first drive branch 3, a second drive branch 4, a third drive branch 5, a fourth drive branch 6, a constraint chain 7, and springs 8. The moving platform 1 consists of a working device, a force sensor, and a tactile sensor. The first drive branch 3 consists of a base, a T-shaped shaft Hooke joint, a motor, a flexible rope, a pulley, and a ball joint. The first drive branch 3 is connected to the fixed platform 2 via a Hooke joint and to the moving platform 1 via a ball joint. The motor is fixed on a motor support and drives the roller to rotate. The flexible rope is wound around the roller and the pulley. The second drive branch 4, the third drive branch 5, and the fourth drive branch 6 have the same structure as the first drive branch 3. The constraint chain 7 is a height-adjustable rigid telescopic push rod, which is fastened to the fixed platform 2 with screws. The connecting rods and the moving platform 1 are connected by revolute joints, and the axes of the three revolute joints spatially converge at the virtual center of the ankle joint. Four telescopic springs are installed between the moving platform 1 and the fixed platform 2.

[0025] like Figure 2 The moving platform 1 consists of a working device 11, a force sensor 12, and a tactile sensor 13. The bottom of the working device 11 is composed of a rectangle and two semicircles, and is equipped with rubber anti-slip pads 14. It has protrusions around its perimeter, with the rear protrusion higher than the left and right ends. The force sensor 12 and the tactile sensor 13 are installed in the middle and rear of the moving platform 1. The sensors are fastened to the moving platform 1 with screws, and after processing the collected information, they issue commands to the motor.

[0026] like Figure 3The first drive branch 3 is located at the right front end of the moving platform 1. The ball joint 31 base is located on the lower right side of the moving platform 1 and connected to the pulley 36, which is fixed by screws. The first and second rotating shafts of the Hooke joint 32 form a T-shape, with the starting point of the second rotating shaft being the midpoint of the first rotating shaft. The axes of the first and second rotating joints of the Hooke joint 32 are perpendicular to each other. The flexible rope 33 is driven by the motor 34 to wind around the roller 35. When viewed from the middle section of the roller 35, the winding direction of the rope 33 is opposite. The Hooke joint 32 is connected to the motor support 38 through the bearing 37. The motor 34 fixes the motor 38 to the motor support with screws. The flexible rope connects the upper and lower platforms by winding between the motor roller 35 and the pulley 36.

[0027] like Figure 4 The constraint branch 7 is a rigid telescopic push rod 71 whose height is adjusted by a pin. The telescopic push rod 71 is fastened to the fixed platform 2 by screws. The telescopic push rod 71 is connected to the first link 72 through a revolute joint R1. The first link 72 is connected to the second link through a revolute joint R2. The second link is connected to the moving platform 1 through a revolute joint R3. The extended axes of the three revolute joints converge at the virtual center of motion of the ankle joint in space.

[0028] like Figure 5 The telescopic spring 81 has threads at both ends. The upper end is added into the threaded groove of the moving platform 1, and the lower end is fixed to the fixed platform 2 by the nut 82. The geometric centers of the bottom circles of the four springs form a rectangle, and the geometric centers of the top circles always remain in the same plane.

[0029] In this embodiment, when using this invention for ankle joint rehabilitation training, the height is adjusted by the pin between the telescopic push rod 71 and the first push rod 72 to allow the patient's ankle to relax. The patient places their foot on the moving platform 1, and the ankle joint rotates in three directions—inversion / eversion, internal rotation / external rotation, and dorsiflexion / plantar flexion—driven by the motor 34 through the ropes of the first drive branch 3, the second drive branch 4, the third drive branch 5, and the fourth drive branch 6. The mechanical sensor 12 and the tactile sensor 13 on the moving platform 1 transmit the collected information to the motor, continuously adjusting the operation of the device. The rotation center of the mechanism is the ankle joint rotation center. By controlling the tilt-adjustable support device, the overall angle of the mechanism is changed, thereby enabling the patient to achieve the best training effect.

[0030] The above-described embodiments of a rigid-flexible coupling ankle rehabilitation device with force-touch sensing are not limited to the embodiments described above. Based on the content disclosed in this utility model, those skilled in the art can make changes, equivalent substitutions, improvements, etc., in other specific ways on the basis of this utility model patent. Therefore, the embodiments should not be construed as specific implementation methods that can only be carried out by this utility model.

Claims

1. A rigid-flexible coupled ankle rehabilitation device integrating force and tactile sensing, characterized in that: The system includes a moving platform, a fixed platform, a first drive branch, a second drive branch, a third drive branch, a fourth drive branch, a constraint chain, and springs. The moving platform consists of a working device, a force sensor, and a tactile sensor. The first drive branch consists of a base, a T-shaped shaft Hooke's joint, a motor, a flexible rope, a pulley, and a ball joint. The first drive branch is connected to the fixed platform via a Hooke's joint and to the moving platform via a ball joint. The motor is fixed on a motor support and drives the roller to rotate. The flexible rope is wound around the roller and the pulley. The second, third, and fourth drive branches have the same structure as the first drive branch. The constraint chain is a height-adjustable rigid telescopic push rod, which is fastened to the fixed platform with screws. The connecting rods are connected to each other and to the moving platform via revolute joints. The axes of the three revolute joints spatially converge at the virtual center of motion of the ankle joint. Four telescopic springs are installed between the moving platform and the fixed platform.

2. The rigid-flexible coupled ankle rehabilitation device with force-touch sensing according to claim 1, characterized in that: The bottom of the working device consists of a rectangle and two semicircles, and is equipped with rubber anti-slip pads. It has protrusions around its perimeter, with the rear protrusion higher than the left and right ends. A force sensor and a tactile sensor are installed in the middle and rear of the moving platform, and the sensors are fastened to the moving platform by screws.

3. The rigid-flexible coupled ankle rehabilitation device with force-touch sensing according to claim 1, characterized in that: The first drive branch is located at the right front end of the moving platform. The ball joint base is located below the right side of the moving platform and connected to the pulley, which is fixed by screws. The first and second rotating shafts of the Hooke joint are T-shaped, with the starting point of the second rotating shaft being the midpoint of the first rotating shaft. The axes of the first and second rotating joints of the Hooke joint are perpendicular to each other. The flexible rope is driven by a motor to wind around the roller. When viewed from the middle section of the roller, the winding direction of the rope is opposite. The Hooke joint is connected to the motor support through a bearing. The motor is fixed to the motor support by screws. The flexible rope connects the upper and lower platforms by winding between the motor roller and the pulley.

4. The rigid-flexible coupled ankle rehabilitation device with force-touch sensing according to claim 1, characterized in that: The constraint branch is a rigid telescopic push rod whose height is adjusted by a pin. The telescopic push rod is fastened to the fixed platform by screws. The telescopic push rod is connected to the first link through a revolute joint R1. The first link is connected to the second link through a revolute joint R2. The second link is connected to the moving platform through a revolute joint R3. The extended axes of the three revolute joints converge at the virtual center of motion of the ankle joint in space.

5. The rigid-flexible coupled ankle rehabilitation device with force-touch sensing according to claim 1, characterized in that: The telescopic spring has threads at both ends. The upper end is added into the threaded groove of the moving platform, and the lower end is fixed to the fixed platform by a nut. The geometric center of the bottom circle of the telescopic spring forms a rectangle, and the geometric center of the top circle always remains in the same plane.

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