Ankle-foot orthosis

Abstract

The utility model discloses an ankle foot auxiliary device relates to the technical field of rehabilitation training, including leg fixed frame, heel support plate, front palm support plate and first driver, and the leg fixed frame can be fixed on the patient's shank, and the heel support plate is connected in the bottom of leg fixed frame, and the rear end of front palm support plate is hinged with the front end of heel support plate, and the first driver is transmission connection with front palm support plate, and the first driver can drive front palm support plate to overturn upwards or downwards relative to heel support plate, the utility model discloses can enhance the flexibility of the ankle foot movement of patient in the rehabilitation training process and the support force to ankle foot.

Description

Technical Field

[0001] This utility model relates to the field of rehabilitation training technology, and in particular to an ankle and foot assistive device. Background Technology

[0002] Ankle-foot braces can be used for support after ankle fracture surgery, lateral ligament injuries, and peroneal nerve damage. They are also necessary for rehabilitation training of patients with foot drop and movement disorders caused by stroke, spinal cord injury, muscular atrophy, or other nerve injuries. Conventional ankle-foot braces are mostly fixed structures, focusing on ankle and foot support and protection. However, during rehabilitation training, the lack of flexibility in ankle and foot movement leads to poor training results. Utility Model Content

[0003] The purpose of this invention is to provide an ankle and foot assistive device to solve the problems existing in the prior art, and to enhance the flexibility of the patient's ankle and foot movements and the support for the ankle and foot during rehabilitation training.

[0004] To achieve the above objectives, this utility model provides the following solution:

[0005] This utility model provides an ankle-foot assistive device, including a leg fixation frame, a heel support plate, a forefoot support plate, and a first actuator. The leg fixation frame can be fixed to the patient's lower leg. The heel support plate is connected to the bottom end of the leg fixation frame. The rear end of the forefoot support plate is hinged to the front end of the heel support plate. The first actuator is driven to the forefoot support plate and can drive the forefoot support plate to flip up or down relative to the heel support plate.

[0006] Preferably, it also includes a connecting shaft, with a connecting hole at the front end of the heel support plate, the middle part of the connecting shaft placed in the connecting hole, and both ends of the connecting shaft fixedly connected to the rear end of the forefoot support plate.

[0007] Preferably, the forefoot support plate includes a left front support plate and a right front support plate, and the rear ends of the left front support plate and the right front support plate are both hinged to the front end of the heel support plate.

[0008] Preferably, the first driver includes a left front driver and a right front driver. The left front driver is driven to the left front support plate and can drive the left front support plate to flip up or down relative to the rear support plate. The right front driver is driven to the right front support plate and can drive the right front support plate to flip up or down relative to the rear support plate.

[0009] Preferably, the left front drive includes a left front servo, a left front drive pulley, a left front timing belt, a left front driven pulley, and a left front connecting post. The left front connecting post is fixedly mounted on the outer surface of the left front support plate. The left front driven pulley is fixedly sleeved on the left front connecting post. The housing of the left front servo is fixedly mounted on the rear support plate. The left front drive pulley is fixedly sleeved on the power output shaft of the left front servo. The left front timing belt is sleeved on the left front drive pulley and the left front driven pulley. The left front timing belt meshes with the left front drive pulley and the left front driven pulley, and the left front timing belt enables the left front driven pulley and the left front drive pulley to rotate synchronously.

[0010] Preferably, the right front drive includes a right front servo, a right front drive pulley, a right front timing belt, a right front driven pulley, and a right front connecting post. The right front connecting post is fixedly mounted on the outer surface of the right front support plate. The right front driven pulley is fixedly sleeved on the right front connecting post. The housing of the right front servo is fixedly mounted on the rear support plate. The right front drive pulley is fixedly sleeved on the power output shaft of the right front servo. The right front timing belt is sleeved on the right front drive pulley and the right front driven pulley. The right front timing belt meshes with the right front drive pulley and the right front driven pulley, and the right front timing belt enables the right front driven pulley and the right front drive pulley to rotate synchronously.

[0011] Preferably, it also includes a locking pin; the bottom end of the leg fixing frame is provided with a mounting hole; the heel support plate includes a main body and two connecting parts, one of the connecting parts is fixedly disposed on the left side of the main body and the other connecting part is fixedly disposed on the right side of the main body, and the connecting part has a mounting shaft; the top end of the mounting shaft can extend into the mounting hole, and the locking pin can lock the top end of the mounting shaft in the mounting hole.

[0012] Preferably, the distance by which the mounting shaft extends into the mounting hole is adjustable.

[0013] Preferably, the leg fixation frame includes a support frame, a leg guard, a calf strap, a connecting frame, and a second actuator. The leg guard is fixedly mounted on the support frame, and the calf strap is mounted on the leg guard, which can bind the leg guard to the patient's calf. The top end of the connecting frame is hinged to the bottom end of the support frame, and the bottom end of the connecting frame is fixedly connected to the heel support plate. The second actuator is driven to the connecting frame, and can drive the connecting frame to rotate forward or backward relative to the support frame.

[0014] Preferably, both the heel support plate and the forefoot support plate are provided with foot straps, which can bind the patient's foot to the heel support plate and the forefoot support plate.

[0015] The present invention achieves the following technical advantages over the prior art:

[0016] The ankle-foot assistive device provided by this utility model provides a stable mounting base for the heel support plate and the forefoot support plate by fixing the leg fixation frame to the patient's lower leg. The heel support plate is connected to the bottom end of the leg fixation frame, supporting the patient's heel and assisting in supporting the calcaneus and talus bones of the foot. The forefoot support plate supports the patient's forefoot and assists in supporting the five metatarsal bones. This design is more in line with the physiological structure of the human foot and helps the patient's rehabilitation. The rear end of the forefoot support plate is hinged to the front end of the heel support plate, and the first driver drives the forefoot support plate to rotate upward or downward relative to the heel support plate. This allows for flexible adaptation to the upward or downward rotation of the patient's forefoot relative to the heel during rehabilitation training, and provides effective assistance to the patient's forefoot and heel, enhancing flexibility and support during movement. This enables the patient to walk and move more naturally during rehabilitation, reducing unnecessary foot burden, assisting human movement, improving human motor function, and enhancing training effects. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic diagram of the ankle and foot assist device provided by this utility model;

[0019] Figure 2 for Figure 1 A partial structural diagram;

[0020] Figure 3 for Figure 1 A schematic diagram of the heel support plate and forefoot support plate;

[0021] In the diagram: 1-Leg fixation frame, 2-Lower leg strap, 3-Second actuator, 4-Foot strap, 5-Locking pin, 6-Connecting frame, 7-Heel support plate, 8-Left front support plate, 9-Right front support plate, 10-Right front actuator, 11-Mounting plate, 12-Left front driven pulley, 13-Left front timing belt, 14-Connecting hole. Detailed Implementation

[0022] 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.

[0023] The purpose of this invention is to provide an ankle and foot assistive device to solve the problems existing in the prior art, and to enhance the flexibility of the patient's ankle and foot movements and the support for the ankle and foot during rehabilitation training.

[0024] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] like Figures 1 to 3 As shown, this utility model provides an ankle and foot assistive device, including a leg fixation frame 1, a heel support plate 7, a forefoot support plate, and a first driver. The leg fixation frame 1 can be fixed to the patient's lower leg. The heel support plate 7 is connected to the bottom end of the leg fixation frame 1. The rear end of the forefoot support plate is hinged to the front end of the heel support plate 7. The first driver is driven to rotate the forefoot support plate upward or downward relative to the heel support plate 7.

[0026] The ankle-foot assistive device provided by this utility model is particularly suitable for rehabilitation training of patients with foot drop and movement disorders caused by stroke, spinal cord injury, muscular atrophy, or other nerve injuries. By fixing the leg fixation frame 1 to the patient's lower leg, a stable mounting base is provided for the heel support plate 7 and the forefoot support plate. The heel support plate 7 is connected to the bottom end of the leg fixation frame 1. The heel support plate 7 supports the patient's heel, assisting in supporting the calcaneus and talus bones of the foot. The forefoot support plate supports the patient's forefoot, assisting in supporting the five metatarsal bones. This design better conforms to the physiological structure of the human foot and aids in patient rehabilitation. The rear end of the forefoot support plate connects to the heel support plate... The front end of the support plate 7 is hinged, and the forefoot support plate is driven by a first driver to rotate upward or downward relative to the heel support plate 7. This allows for flexible adaptation to the upward or downward rotation of the patient's forefoot relative to the heel during rehabilitation training, providing effective assistance to the patient's forefoot and heel, enhancing flexibility and support during movement, enabling patients to walk and move more naturally during rehabilitation, reducing unnecessary foot burden, assisting human movement, improving motor function, and enhancing training effectiveness. The ankle-foot assistive device provided by this utility model plays an important role in the fields of medical rehabilitation and sports rehabilitation and training. In rehabilitation, the ankle-foot assistive device provided by this invention promotes neural remodeling and functional recovery for patients with lower limb dysfunction caused by stroke, spinal cord injury, and cerebral palsy. In orthopedic rehabilitation, the device assists patients after lower limb fractures or joint replacement surgery in gait training, accelerating bone healing and muscle strength recovery, and assisting doctors in assessing rehabilitation progress. For geriatric rehabilitation, the device improves the elderly's walking ability and self-care ability, enhancing their quality of life. Furthermore, in athlete rehabilitation training, the device improves rehabilitation outcomes and assists athletes... This method aims to enhance muscle strength, improve coordination and flexibility. For example, when the patient's foot is relaxed, the forefoot and heel should be on the same plane, which can be achieved by aligning the forefoot support plate and heel support plate 7 on the same plane. When the patient's foot is on tiptoe, the forefoot should rotate upward relative to the heel, which can be achieved by rotating the forefoot support plate and heel support plate 7 upward relative to the heel support plate 7. It should be noted that the posture changes of the patient's forefoot and heel are not limited to these. In practical applications, the angle between the forefoot support plate and heel support plate 7 can be adjusted according to the actual changes in the patient's forefoot and heel.

[0027] As a preferred embodiment of this invention, the ankle and foot support device provided by this utility model also includes a connecting shaft. The front end of the heel support plate 7 is provided with a connecting hole 14. The middle part of the connecting shaft is placed in the connecting hole 14 and rotates in the connecting hole 14. Both ends of the connecting shaft are fixedly connected to the rear end of the forefoot support plate. The structure is simple and the connection is reliable.

[0028] As a preferred embodiment of this invention, the forefoot support plate includes a left forefoot support plate 8 and a right forefoot support plate 9. The rear ends of the left forefoot support plate 8 and the right forefoot support plate 9 are both hinged to the front end of the heel support plate 7, which facilitates flexible adaptation to the support needs of the left and right parts of the patient's forefoot.

[0029] Furthermore, the first driver includes a left front driver and a right front driver 10. The left front driver is connected to the left front support plate 8 and can drive the left front support plate 8 to flip up or down relative to the rear support plate 7. The right front driver 10 is connected to the right front support plate 9 and can drive the right front support plate 9 to flip up or down relative to the rear support plate 7, which facilitates flexible adjustment of the left front support plate 8 and the right front support plate 9. In this embodiment, both the left front driver and the right front driver 10 are mounted on the rear support plate 7 via a mounting plate 11.

[0030] As a preferred embodiment of this invention, the left front drive includes a left front servo, a left front drive pulley, a left front timing belt 13, a left front driven pulley 12, and a left front connecting post. The left front connecting post is fixedly mounted on the outer side of the left front support plate 8. The left front driven pulley 12 is fixedly sleeved on the left front connecting post. The housing of the left front servo is fixedly mounted on the rear support plate 7. The left front drive pulley is fixedly sleeved on the power output shaft of the left front servo. The left front timing belt 13 is sleeved on the left front drive pulley and the left front driven pulley 12. The left front timing belt 13 meshes with the left front drive pulley and the left front driven pulley 12. The left front timing belt 13 enables the left front driven pulley 12 to rotate synchronously with the left front drive pulley. The structure is simple and easy to manufacture and use.

[0031] As a preferred embodiment of this invention, the right front drive 10 includes a right front servo, a right front drive pulley, a right front timing belt, a right front driven pulley, and a right front connecting post. The right front connecting post is fixedly mounted on the outer surface of the right front support plate 9. The right front driven pulley is fixedly sleeved on the right front connecting post. The housing of the right front servo is fixedly mounted on the rear support plate 7. The right front drive pulley is fixedly sleeved on the power output shaft of the right front servo. The right front timing belt is sleeved on the right front drive pulley and the right front driven pulley. The right front timing belt meshes with the right front drive pulley and the right front driven pulley. The right front timing belt enables the right front driven pulley and the right front drive pulley to rotate synchronously. The structure is simple and easy to manufacture and use.

[0032] Furthermore, the ankle and foot support device provided by this utility model also includes a locking pin 5; the bottom end of the leg fixing frame 1 is provided with a mounting hole; the heel support plate 7 includes a main body and two connecting parts, one connecting part is fixedly located on the left side of the main body and the other connecting part is fixedly located on the right side of the main body, and the connecting part has a mounting shaft; the top end of the mounting shaft can extend into the mounting hole, and the locking pin 5 can lock the top end of the mounting shaft in the mounting hole, which facilitates the quick connection between the bottom end of the leg fixing frame 1 and the heel support plate 7.

[0033] Furthermore, the distance the mounting shaft extends into the mounting hole can be adjusted to accommodate different foot shapes of different patients, thus improving adaptability to different foot types.

[0034] In a preferred embodiment of this invention, the leg fixation frame 1 includes a support frame, a leg guard, a calf strap 2, a connecting frame 6, and a second driver 3. The leg guard is fixedly mounted on the support frame, and the calf strap 2 is mounted on the leg guard, which secures the leg guard to the patient's calf. The top of the connecting frame 6 is hinged to the bottom of the support frame, and the bottom of the connecting frame 6 is fixedly connected to the heel support plate 7. The second driver 3 is connected to the connecting frame 6 via a transmission mechanism, and can drive the connecting frame 6 to rotate forward or backward relative to the support frame. The structure is simple, easily adaptable to the patient's ankle exercise training needs, and can provide effective assistance to the patient's ankle and foot, improving rehabilitation training effects, enhancing support during exercise, and conforming more to the human physiological structure. It can assist the patient in exercising ankle muscles, assist the patient's ankle and foot muscles in exerting force, and ensure the correct posture and force exertion of the patient's ankle and foot. In a preferred embodiment of this invention, the second driver 3 uses a conventional motor and coupling to drive the connecting frame 6.

[0035] Furthermore, both the heel support plate 7 and the forefoot support plate are equipped with foot straps 4, which can bind the patient's foot to the heel support plate 7 and the forefoot support plate, making it easy for the heel support plate 7 and the forefoot support plate to be stably connected to the patient's foot.

[0036] This utility model uses specific examples to illustrate its principles and implementation methods. The above description of the embodiments is only for the purpose of helping to understand the method and core idea of ​​this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the idea of ​​this utility model. In summary, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. An ankle-foot assistive device, characterized in that: The device includes a leg fixation frame, a heel support plate, a forefoot support plate, and a first actuator. The leg fixation frame can be fixed to the patient's lower leg. The heel support plate is connected to the bottom end of the leg fixation frame. The rear end of the forefoot support plate is hinged to the front end of the heel support plate. The first actuator is driven to the forefoot support plate and can drive the forefoot support plate to flip up or down relative to the heel support plate.

2. The ankle-foot assistive device according to claim 1, characterized in that: It also includes a connecting shaft. The front end of the heel support plate has a connecting hole, the middle part of the connecting shaft is placed in the connecting hole, and both ends of the connecting shaft are fixedly connected to the rear end of the forefoot support plate.

3. The ankle-foot assistive device according to claim 1, characterized in that: The forefoot support plate includes a left front support plate and a right front support plate, and the rear ends of the left front support plate and the right front support plate are both hinged to the front end of the heel support plate.

4. The ankle-foot assistive device according to claim 3, characterized in that: The first driver includes a left front driver and a right front driver. The left front driver is driven to the left front support plate and can drive the left front support plate to flip up or down relative to the rear support plate. The right front driver is driven to the right front support plate and can drive the right front support plate to flip up or down relative to the rear support plate.

5. The ankle-foot assistive device according to claim 4, characterized in that: The left front drive includes a left front servo, a left front drive pulley, a left front timing belt, a left front driven pulley, and a left front connecting post. The left front connecting post is fixedly mounted on the outer side of the left front support plate. The left front driven pulley is fixedly sleeved on the left front connecting post. The housing of the left front servo is fixedly mounted on the rear support plate. The left front drive pulley is fixedly sleeved on the power output shaft of the left front servo. The left front timing belt is sleeved on the left front drive pulley and the left front driven pulley. The left front timing belt meshes with the left front drive pulley and the left front driven pulley, and the left front timing belt enables the left front driven pulley and the left front drive pulley to rotate synchronously.

6. The ankle-foot assistive device according to claim 5, characterized in that: The right front drive includes a right front servo, a right front drive pulley, a right front timing belt, a right front driven pulley, and a right front connecting post. The right front connecting post is fixedly mounted on the outer surface of the right front support plate. The right front driven pulley is fixedly sleeved on the right front connecting post. The housing of the right front servo is fixedly mounted on the rear support plate. The right front drive pulley is fixedly sleeved on the power output shaft of the right front servo. The right front timing belt is sleeved on the right front drive pulley and the right front driven pulley. The right front timing belt meshes with the right front drive pulley and the right front driven pulley, enabling the right front driven pulley and the right front drive pulley to rotate synchronously.

7. The ankle-foot assistive device according to claim 6, characterized in that: It also includes a locking pin; the bottom end of the leg fixing frame is provided with a mounting hole; the heel support plate includes a main body and two connecting parts, one of the connecting parts is fixedly located on the left side of the main body and the other connecting part is fixedly located on the right side of the main body, and the connecting part has a mounting shaft; the top end of the mounting shaft can extend into the mounting hole, and the locking pin can lock the top end of the mounting shaft in the mounting hole.

8. The ankle-foot assistive device according to claim 7, characterized in that: The distance by which the mounting shaft extends into the mounting hole is adjustable.

9. The ankle-foot assistive device according to claim 1, characterized in that: The leg fixation frame includes a support frame, a leg guard, a calf strap, a connecting frame, and a second actuator. The leg guard is fixedly mounted on the support frame, and the calf strap is mounted on the leg guard, which can bind the leg guard to the patient's calf. The top end of the connecting frame is hinged to the bottom end of the support frame, and the bottom end of the connecting frame is fixedly connected to the heel support plate. The second actuator is driven by the connecting frame, and can drive the connecting frame to rotate forward or backward relative to the support frame.

10. The ankle-foot assistive device according to claim 1, characterized in that: Both the heel support plate and the forefoot support plate are equipped with foot straps, which can bind the patient's foot to the heel support plate and the forefoot support plate.

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