Lower limb rehabilitation exoskeleton variable resistance ankle joint

Abstract

The utility model provides a lower limbs rehabilitation exoskeleton rheostatic ankle joint, rehabilitation exoskeleton technical field. To solve the technical problem that the resistance of exoskeleton cannot be adjusted according to the output force when the ankle joint is rehabilitated. Leg fixed component and foot fixed part articulate, and this design allows the ankle joint to move freely within a natural range, improves the comfort and rehabilitation effect of the patient, a gas discharge assembly is slidably arranged in the gas exchange part to divide the cavity into two chambers, each chamber is communicated with an exchange hole at the two ends of the gas exchange part, and the gas discharge assembly is coupled with the foot fixed part. When the gas discharge assembly moves, the corresponding exchange hole becomes smaller, the space of the chamber is gradually compressed, and the compression speed is determined by the speed of gas discharge from the exchange hole, thereby realizing the rheostatic effect and simulating the resistance change in natural gait.

Description

Technical Field

[0001] This utility model belongs to the field of limb rehabilitation exoskeleton technology, and in particular relates to a variable resistance ankle joint for lower limb rehabilitation exoskeleton. Background Technology

[0002] Significant progress has been made in existing lower limb rehabilitation exoskeleton technologies, particularly in ankle rehabilitation. These technologies primarily focus on improving ankle mobility and rehabilitation outcomes. For example, the wearable rehabilitation robot developed by Yupeng Ren et al. combines the performance of an exoskeleton and an end effector.

[0003] Although existing exoskeleton technology has achieved some success in ankle rehabilitation, it still has some limitations. Existing exoskeletons cannot adjust the resistance according to the output force when performing ankle rehabilitation. Utility Model Content

[0004] In view of this, the present invention aims to propose a variable resistance ankle joint for lower limb rehabilitation exoskeleton, so as to solve the technical problem that the resistance of the exoskeleton cannot be adjusted according to the output force when performing ankle joint rehabilitation.

[0005] To achieve the above objectives, this utility model adopts the following technical solution: a lower limb rehabilitation exoskeleton with variable resistance, comprising:

[0006] The leg fixing component is hinged to the foot fixing component;

[0007] The gas exchange unit is a hollow shell, one end of which is coupled to the leg fixing assembly;

[0008] A gas exhaust assembly is slidably disposed inside the gas exchange section to divide the cavity into two chambers. Both ends of the gas exchange section are provided with exchange holes that communicate with each chamber. The gas exhaust assembly is coupled to the foot fixing part.

[0009] When the gas discharge assembly moves, it controls the exchange hole corresponding to the compressed chamber to become smaller.

[0010] Furthermore, the gas discharge assembly includes a movable cylinder that is slidably disposed inside the gas exchange section. A movable plug is provided inside the movable cylinder, and the movable plug is coupled to the foot fixing section.

[0011] Furthermore, the movable cylinder is provided with limiting posts at both ends.

[0012] Furthermore, both end faces of the movable plug are provided with elastic portions.

[0013] Furthermore, the elastic part is a spring.

[0014] Furthermore, the movable plug is connected to the foot fixing part via a hinge rod.

[0015] Furthermore, the leg fixing assembly is hinged to the foot fixing part via a hinge assembly.

[0016] Furthermore, the hinge assembly includes a fixed seat and a rotating seat, the rotating seat being rotatably mounted on the fixed seat, the fixed seat being mounted on the leg fixing assembly, and the rotating seat being mounted on the foot fixing part.

[0017] Furthermore, the leg fixing assembly includes an arc-shaped plate and a tightening part, wherein the arc-shaped plate is provided with multiple tightening parts.

[0018] Furthermore, the tightening part is a tightening band.

[0019] Beneficial effects:

[0020] The leg fixation component and foot fixation component are hinged together, a design that allows the ankle joint to move freely within its natural range, improving patient comfort and rehabilitation outcomes.

[0021] The gas exhaust assembly is slidably installed inside the gas exchange section, dividing the cavity into two chambers. Each end of the gas exchange section has an exchange port communicating with each chamber. The gas exhaust assembly is coupled to the foot fixing part. When the gas exhaust assembly moves, the corresponding exchange port shrinks, and the space in the chamber is gradually compressed. The compression speed is determined by the speed at which gas is discharged from the exchange port, thus achieving a variable drag effect and simulating the resistance changes in natural gait. Attached Figure Description

[0022] The accompanying drawings, which form part of this utility model, are used to provide a further understanding of the utility model. The illustrative embodiments of the utility model and their descriptions are used to explain the utility model and do not constitute an undue limitation of the utility model. In the drawings:

[0023] Figure 1 This is a schematic diagram of the overall structure of the variable resistance ankle joint of the lower limb rehabilitation exoskeleton described in this utility model;

[0024] Figure 2 This is a cross-sectional view of the overall structure of the variable resistance ankle joint of the lower limb rehabilitation exoskeleton described in this utility model;

[0025] Figure 3 This is a schematic diagram of the structure of the gas exchange section and gas exhaust component of the variable resistance ankle joint of the lower limb rehabilitation exoskeleton described in this utility model.

[0026] Leg fixing component 1; arc plate 1-1; tightening part 1-2; foot fixing part 2; hinge assembly 3; fixing seat 3-1; rotating seat 3-2; gas exchange part 4; moving cylinder 5; exchange hole 6; moving plug 7; elastic part 8; hinge rod 9. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present utility model can be combined with each other, and the described embodiments are only some embodiments of the present utility model, not all embodiments.

[0028] It should be noted that the descriptions of "left," "right," "left side," "right side," "upper part," "lower part," "top," and "bottom" in this utility model are defined based on the orientation or positional relationships shown in the accompanying drawings. They are used solely for the convenience of describing this utility model and for simplifying the description, and are not intended to indicate or imply that the described structure must be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In the description of this utility model, "multiple" means two or more, unless otherwise explicitly specified.

[0029] In the description of this utility model, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0030] Referring to the accompanying drawings, this embodiment provides a lower limb rehabilitation exoskeleton resistance ankle joint, comprising:

[0031] The leg fixing component 1 and the foot fixing component 2 are hinged together;

[0032] The gas exchange unit 4 is a hollow shell, one end of which is coupled to the leg fixing assembly 1;

[0033] A gas exhaust assembly is slidably disposed inside the gas exchange section 4 to divide the cavity into two chambers. Both ends of the gas exchange section 4 are provided with exchange holes 6 that communicate with each chamber. The gas exhaust assembly is coupled to the foot fixing part 2.

[0034] When the gas discharge component moves, it controls the exchange hole 6 corresponding to the compressed chamber to become smaller.

[0035] The leg fixation component 1 and the foot fixation component 2 are hinged together. This design allows the ankle joint to move freely within its natural range, improving patient comfort and rehabilitation outcomes.

[0036] A gas exhaust assembly is slidably disposed inside the gas exchange section 4, dividing the cavity into two chambers. Both ends of the gas exchange section 4 are provided with exchange holes 6 communicating with each chamber. The gas exhaust assembly is coupled to the foot fixing part 2. When the gas exhaust assembly moves, the corresponding exchange hole 6 decreases in size, and the space of the chamber is gradually compressed. The compression speed is determined by the speed at which gas is discharged from the exchange hole 6, thereby achieving a variable drag effect and simulating the resistance changes in natural gait. The gas exchange section 4 is a hollow cylindrical shape, with exhaust holes 6 at both ends.

[0037] In this embodiment, the gas discharge assembly includes a movable cylinder 5, which is slidably disposed inside the gas exchange section 4. A movable plug 7 is provided inside the movable cylinder 5. The movable plug 7 is coupled to the foot fixing part 2, which is a shoe-shaped fixing seat. The movable plug 7 and the movable cylinder 5 are interference-fitted. When the movable plug 7 moves, it drives the movable cylinder 5 to slide together inside the gas exchange section 4. The moving movable cylinder 5 partially closes the corresponding exhaust hole 6, thereby compressing the space enclosed by the gas exchange section 4, the movable cylinder 5, and the movable plug 7. During the compression process, the gas inside the space is discharged through the contracted exhaust hole 6. Since the flow rate of the exhaust hole 6 is fixed, when the pressure applied to the movable plug 7 increases, the compressed gas inside the space provides the same reaction force for rehabilitation. Then, the corresponding reaction force can be fed back according to the force output by the ankle joint to improve the rehabilitation effect.

[0038] In this embodiment, the movable cylinder 5 is provided with limiting posts 11 at both ends. The movable cylinder 5 with limiting posts 11 at both ends ensures that the exhaust port 6 is not completely sealed when the movable cylinder 5 moves to both ends of the gas exchange section 4.

[0039] In this embodiment, the movable plug 7 has elastic portions 8 on both end faces. The elastic portions 8 are springs. The elastic portions 8 can not only provide resistance for recovery but also help the movable plug 7 to reset.

[0040] In this embodiment, the movable plug 7 is connected to the foot fixing part 2 via the hinge rod 9.

[0041] In this embodiment, the leg fixing component 1 is hinged to the foot fixing part 2 via the hinge component 3.

[0042] In this embodiment, the hinge assembly 3 includes a fixed seat 3-1 and a rotating seat 3-2. The rotating seat 3-2 is rotatably mounted on the fixed seat 3-1. The fixed seat 3-1 is mounted on the leg fixing assembly 1, and the rotating seat 3-2 is mounted on the foot fixing part 2, thereby fixing the foot fixing part 2 to the patient's foot to ensure its stability and comfort.

[0043] In this embodiment, the leg fixing component 1 includes an arc-shaped plate 1-1 and a tightening part 1-2, and the arc-shaped plate 1-1 is provided with a plurality of tightening parts 1-2.

[0044] In this embodiment, the tightening part 1-2 is a tightening band that fixes the leg fixation component 1 to the patient's lower leg, ensuring its stability and comfort. The leg fixation component 1 includes an arc-shaped plate 1-1 and tightening parts 1-2. The arc-shaped plate 1-1 is provided with multiple tightening parts 1-2, which are tightening bands used to adjust the tightness of the fixation component.

[0045] Working principle;

[0046] During ankle rehabilitation, the rotating foot causes the foot fixation part 2 to rotate on the arc plate 1-1. The rotating foot fixation part 2 drives the sliding plug 7 to slide through the hinge rod 9. The sliding plug 7 drives the sliding cylinder 5 to slide inside the gas exchange part 4. When the cylinder 5 moves to the end inside the gas exchange part 4, it stops moving and shrinks the corresponding exchange hole 6. Then the plug 7 and the cylinder 5 continue to move relative to each other, so that the chamber enclosed by the gas exchange part 4, the plug 7 and the cylinder 5 corresponding to the shrunken exchange hole 6 continues to shrink. However, since the flow rate of the shrunken exchange hole 6 is limited, the pressure inside the enclosed chamber is affected by the force output by the ankle joint. The greater the force output by the ankle joint, the greater the force feedback from the variable resistance ankle joint. This can simulate the resistance changes in natural gait and provide rehabilitation training that is closer to nature.

[0047] The embodiments of the present invention disclosed above are merely illustrative of the present invention. The embodiments do not exhaustively describe all details, nor do they limit the present invention to the specific implementations described. Many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention.

Claims

1. A variable resistance ankle joint for lower limb rehabilitation exoskeleton, characterized in that, include: The leg fixing component (1) and the foot fixing component (2) are hinged together; The gas exchange unit (4) is a hollow shell, one end of which is coupled to the leg fixing assembly (1); The gas exhaust assembly is slidably disposed inside the gas exchange section (4) and divides the cavity into two chambers. Both ends of the gas exchange section (4) are provided with exchange holes (6) communicating with each chamber. The gas exhaust assembly is coupled to the foot fixing part (2). When the gas discharge assembly moves, it controls the exchange hole (6) corresponding to the compressed chamber to become smaller.

2. The lower limb rehabilitation exoskeleton with variable resistance ankle joint according to claim 1, characterized in that: The gas discharge assembly includes a movable cylinder (5), which is slidably disposed inside the gas exchange section (4). A movable plug (7) is provided inside the movable cylinder (5), and the movable plug (7) is coupled to the foot fixing section (2).

3. The lower limb rehabilitation exoskeleton resistance ankle joint according to claim 2, characterized in that: The movable cylinder (5) is provided with limiting posts (11) at both ends.

4. The lower limb rehabilitation exoskeleton resistance ankle joint according to claim 3, characterized in that: The movable plug (7) has elastic parts (8) on both end faces.

5. The lower limb rehabilitation exoskeleton resistance ankle joint according to claim 4, characterized in that: The elastic part (8) is a spring.

6. A lower limb rehabilitation exoskeleton with variable resistance ankle joint according to any one of claims 2-5, characterized in that: The movable plug (7) is connected to the foot fixing part (2) via the hinge rod (9).

7. A lower limb rehabilitation exoskeleton with variable resistance ankle joint according to any one of claims 1-5, characterized in that: The leg fixing component (1) is hinged to the foot fixing component (2) via the hinge component (3).

8. The variable resistance ankle joint of a lower limb rehabilitation exoskeleton according to claim 7, characterized in that: The hinge assembly (3) includes a fixed seat (3-1) and a rotating seat (3-2). The rotating seat (3-2) is rotatably mounted on the fixed seat (3-1). The fixed seat (3-1) is mounted on the leg fixing assembly (1), and the rotating seat (3-2) is mounted on the foot fixing part (2).

9. A lower limb rehabilitation exoskeleton with variable resistance ankle joint according to claim 8, characterized in that: The leg fixing assembly (1) includes an arc-shaped plate (1-1) and a tightening part (1-2), and the arc-shaped plate (1-1) is provided with a plurality of tightening parts (1-2).

10. A lower limb rehabilitation exoskeleton with variable resistance ankle joint according to claim 9, characterized in that: The tightening part (1-2) is a tightening band.

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