A multifunctional intelligent ankle rehabilitation robot

Abstract

The utility model relates to foot and ankle rehabilitation equipment technical field especially relates to a multifunctional intelligent foot and ankle rehabilitation robot, its technical scheme foot and ankle rehabilitation robot is by support system, intelligent pressurization system, motion control system, multi -mode evaluation system and data management system are composed of, support system includes fixed bottom plate and the support leg of installation in the fixed bottom plate four corners top, intelligent pressurization system includes the foot bottom seat of installation in the middle of stabilizer top, is provided with the foot surface banding for foot binding and the pressurization system of the airbag guide tube and airbag of foot bottom seat, motion control system includes setting in the foot bottom seat below for the six -degree of freedom motion mechanism of carrying out motion drive to foot bottom seat, data management system includes setting in the motion analysis module of fixed bottom plate top installation, the utility model discloses through the integration advanced mechanical design, control algorithm and information technology, provides the intelligent, individualized, comprehensive solution for foot and ankle rehabilitation.

Description

Technical Field

[0001] This utility model relates to the field of foot and ankle rehabilitation equipment technology, and in particular to a multifunctional intelligent foot and ankle rehabilitation robot. Background Technology

[0002] Foot and ankle injuries and diseases, such as ankle sprains, fractures, chronic instability, and arthritis, have become common health problems in modern society. Currently, most traditional rehabilitation equipment in the field of foot and ankle rehabilitation relies on manual operation or simple mechanical devices, lacking intelligent management for individualized treatment and the ability to acquire patient rehabilitation data in real time during treatment. The rehabilitation effectiveness of these devices is often limited by the operator's experience and skill level, and they cannot effectively monitor the patient's rehabilitation progress or adjust treatment plans in a timely manner according to the patient's actual condition, resulting in significant individual differences during the rehabilitation process.

[0003] With the rapid development of telemedicine and smart technologies, intelligent rehabilitation equipment is gradually becoming an emerging trend in the field of foot and ankle rehabilitation. A Continuous Passive Motion Machine (CPM) is a rehabilitation medical device whose core principle is to use a motor-driven mechanical device to drive the patient's joints to perform slow, continuous, and repetitive passive movements at a preset speed and range. The system uses adjustable motion trajectory control to allow the joint to reciprocate within a safe range. It is mainly used for joint rehabilitation in the early and acute phases after surgery, and can prevent joint adhesions, promote articular cartilage nutrition, reduce pain and swelling, and accelerate the postoperative recovery process. Typical CPM devices have basic functions such as motion speed adjustment, range of motion limitation, pause, and emergency stop. Some high-end devices are also equipped with force feedback protection and angle recording functions. An isokinetic muscle strength system is a professional sports medicine assessment and training device. Its core principle is to use a motor control system to provide adaptive resistance to the subject at a preset constant angular velocity, achieving isokinetic control during concentric and eccentric movements. The system can accurately measure the torque output of the joint at different angular velocities, and collect torque-angle curves during movement through force sensors and angle encoders, thereby evaluating parameters such as muscle strength characteristics, explosive power, endurance, and left-right muscle strength balance under different contraction modes (isometric, isokinetic concentric, and eccentric). However, CPM uses a single-degree-of-freedom mechanism design, mainly realizing passive ankle flexion / dorsiflexion movements, with insufficient degrees of freedom of movement, which cannot meet complex rehabilitation needs. It lacks intelligent control and evaluation functions. The training mode is singular and difficult to personalize. Isokinetic muscle strength systems are only suitable for training and evaluating muscle strength and proprioception, which is difficult to meet comprehensive rehabilitation needs, and its application in early rehabilitation is limited, often used for conservative treatment or postoperative recovery. In view of the above reasons, this application proposes a multifunctional intelligent foot and ankle rehabilitation robot that integrates six-degree-of-freedom ankle joint movement training, a pressure feedback pressurization system, and a remote data management platform. Summary of the Invention

[0004] The purpose of this invention is to address the problems existing in the background technology by proposing a multifunctional intelligent foot and ankle rehabilitation robot that integrates six-degree-of-freedom ankle joint movement training, a pressure feedback pressurization system, and a remote data management platform.

[0005] The technical solution of this utility model is: a multifunctional intelligent foot and ankle rehabilitation robot, which consists of a support system, an intelligent pressure system, a motion control system, a multi-mode assessment system, and a data management system;

[0006] The support system includes a fixed base plate and support legs installed above the four corners of the fixed base plate, with a stabilizing frame fixedly connected above the support legs;

[0007] The intelligent pressurization system includes a foot support base installed in the middle of the top of the stabilizer. The foot support base is equipped with a foot strap for binding the feet and a pressurization system consisting of an air duct and an air bladder.

[0008] The motion control system includes a six-degree-of-freedom motion mechanism disposed below the foot support base for driving the motion of the foot support base;

[0009] The data management system includes a motion analysis module mounted on a fixed base plate.

[0010] Optionally, the stabilizer is bolted to the multiple legs.

[0011] Optionally, the foot support base has a strip-shaped opening for the foot strap to pass through, and multiple position sensors for ankle joint position monitoring are installed at the bottom of the foot support base.

[0012] Optionally, the six-degree-of-freedom motion mechanism is also equipped with multiple sets of motion sensors for acquiring its motion data.

[0013] Optionally, the bottom of the position sensor is equipped with an intelligent pressurization controller for controlling the airbag pressure.

[0014] Optionally, the outer wall of the stabilizer is also equipped with multiple drive motors, each set of drive motors is equipped with a set of resistance adjusters, and the control end of the drive motor is also connected to a motor control box for controlling motion parameters.

[0015] Optionally, the drive motor is used to control the motion of the six-degree-of-freedom motion mechanism.

[0016] Compared with the prior art, the present invention has the following beneficial technical effects:

[0017] This invention provides a more precise and personalized rehabilitation training program. It also helps doctors and patients to participate in the management of the rehabilitation process through real-time data monitoring and evaluation. This robot solves the technical bottlenecks in traditional rehabilitation methods, promotes the technological progress and development in the field of foot and ankle rehabilitation, and further improves the rehabilitation effect and quality of life of patients.

[0018] Furthermore, this utility model combines a six-degree-of-freedom motion mechanism to achieve a six-degree-of-freedom parallel mechanism design, enabling all-round movement of the ankle joint. Driven by a high-precision motor, it ensures the stability and accuracy of the movement, realizing dorsiflexion / plantarflexion, inversion / eversion, and internal / external rotation of the ankle joint. The range of motion is adjustable to meet the needs of different patients.

[0019] Simultaneously, by circulating and pressurizing the airbag and integrating multi-point position sensors, real-time force feedback control is achieved, and the pressurization intensity is automatically adjusted according to the pressure feedback to promote blood circulation and eliminate swelling;

[0020] Furthermore, the resistance modulator uses electromagnetic damping technology to achieve personalized resistance adjustment, supports isometric, isokinetic and isotonic muscle strength training, and has a wide resistance range, making it suitable for patients at different stages of recovery.

[0021] In summary, this invention provides an intelligent, personalized, and comprehensive solution for foot and ankle rehabilitation by integrating advanced mechanical design, control algorithms, and information technology. This solution aims to accelerate the patient's rehabilitation process, improve treatment outcomes, and reduce the risk of re-injury. Attached Figure Description

[0022] Figure 1 A structural schematic diagram of this utility model is provided;

[0023] Figure 2 for Figure 1 Another perspective illustration;

[0024] Figure 3 for Figure 1 A frontal view of the structure.

[0025] Figure label:

[0026] 1. Position sensor;

[0027] 2. Foot straps;

[0028] 3. Support base;

[0029] 4. Airbag inhalation tube;

[0030] 5. Airbags;

[0031] 6. Intelligent pressurization controller;

[0032] 7. Stabilizer;

[0033] 8. Drive motor;

[0034] 9. Fix the base plate;

[0035] 10. Motor control box;

[0036] 11. Motion sensor;

[0037] 12. Motion Analysis Module;

[0038] 13. Six-degree-of-freedom motion mechanism;

[0039] 14. Support legs;

[0040] 15. Resistance regulator. Detailed Implementation

[0041] The technical solutions of this disclosure will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments.

[0042] The components of the embodiments of this disclosure, which are typically described and shown in the accompanying drawings, can be arranged and designed in a variety of different configurations. Therefore, the following detailed description of embodiments of this disclosure provided in the drawings is not intended to limit the scope of the claimed disclosure, but merely to illustrate selected embodiments of the disclosure.

[0043] Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this disclosure.

[0044] In the description of this disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this disclosure.

[0045] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linkage" 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 mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure based on the specific circumstances.

[0046] Example

[0047] like Figures 1-3 As shown, this utility model proposes a multifunctional intelligent foot and ankle rehabilitation robot, which consists of a support system, an intelligent pressure system, a motion control system, a multi-mode assessment system, and a data management system.

[0048] The support system includes a fixed base plate 9 and support legs 14 installed above the four corners of the fixed base plate 9. A stabilizing frame 7 is fixedly connected above the support legs 14, and the stabilizing frame 7 is connected to the multiple support legs 14 by bolts.

[0049] Multiple drive motors 8 are also installed on the outer wall of the stabilizer 7. Each set of drive motors 8 is equipped with a set of resistance adjusters 15. The control end of the drive motor 8 is also connected to a motor control box 10 for controlling motion parameters. The drive motor 8 is used to control the motion of the six-degree-of-freedom motion mechanism 13.

[0050] The intelligent pressurization system includes a foot support base 3 installed at the top center of the stabilizer 7. The foot support base 3 is equipped with a foot strap 2 for foot binding and a pressurization system consisting of an airbag tube 4 and an airbag 5. An intelligent pressurization controller 6 for controlling the pressure of the airbag 5 is installed at the bottom of the position sensor 1. Through the intelligent pressurization controller 6 and the setting of multiple airbags 5, multi-zone independent pressure control and real-time pressure distribution monitoring are realized, which can provide precise pressure treatment for different parts. Based on the physiological feedback adaptive pressurization algorithm, the pressure parameters can be automatically adjusted according to the tissue response to provide a personalized pressure treatment plan. The foot support base 3 has a strip opening for the foot strap 2 to pass through, and multiple position sensors 1 for ankle joint position monitoring are installed at the bottom of the foot support base 3.

[0051] The motion control system includes a six-degree-of-freedom motion mechanism 13 located below the foot base 3 for driving the motion of the foot base 3. The six-degree-of-freedom motion mechanism 13 is also equipped with multiple sets of motion sensors 11 for acquiring its motion data. The system adopts six independent drive chains and a high-precision servo system to achieve all-round motion control and precise positioning in space. Through optimized ball joint and lightweight linkage design, the rigidity and dynamic performance of the mechanism are significantly improved. The system integrates a pressure sensor array and real-time posture measurement to ensure accurate tracking of motion trajectory and force feedback control.

[0052] The data management system includes a motion analysis module 12 installed above the fixed base plate 9; the system integrates functions such as automatic ROM measurement, proprioceptive testing and muscle strength assessment, provides comprehensive functional assessment data, and processes multi-dimensional assessment data through intelligent analysis algorithms to achieve quantitative assessment of rehabilitation effects and progress tracking.

[0053] A cloud-based remote monitoring and management system was established, enabling real-time supervision and remote adjustment of rehabilitation training. Training data was analyzed using deep learning algorithms to provide decision support for treatment plan optimization and effect prediction. Specific learning algorithms such as multilayer perceptron, reinforcement learning, recurrent neural networks (RNNs) and their variants, and generative adversarial networks were used. The specific algorithms will not be elaborated further.

[0054] The patient places their foot on the foot support base 3, which is fixed by the foot strap 2 and airbag 5 system. The six-degree-of-freedom motion mechanism 13, driven by the drive motor 8, can realize multi-dimensional movements of the ankle joint, such as flexion and extension, inversion and eversion, internal rotation and external rotation. The intelligent pressure controller 6 adjusts the airbag pressure to ensure precise pressure and comfort. The resistance regulator 15 can adjust the intensity of muscle strength training according to the rehabilitation stage. The position sensor 1 and motion sensor 11 can measure and evaluate range of motion and proprioceptive data. The motion analysis module 12 analyzes the data to provide a scientific basis for remote rehabilitation training.

[0055] Compared to traditional CPM devices, this invention employs a six-degree-of-freedom parallel mechanism instead of a single-degree-of-freedom structure in its design, extending the range of motion from a single plane to three-dimensional space and achieving omnidirectional ankle joint movement control. In terms of control strategy, it innovatively adopts multimodal impedance control and force feedback adaptive adjustment, enabling personalized training. Functionally, it overcomes the limitations of single passive movement in CPM, integrating multiple functions such as combined active and passive training, progressive resistance training, assessment, and pressure therapy. Compared to isokinetic systems, it abandons the single isokinetic muscle strength, proprioceptive training, and assessment modes, allowing the device to meet the needs of different rehabilitation stages. In the early stages, it primarily provides passive activity and pressure therapy; during the recovery period, it can be used for muscle strength training and proprioceptive training. Significant innovations have been achieved in pressure therapy, replacing the single pressure mode of traditional pressure therapy devices with a multi-zone intelligent pressure system. This innovatively integrates pressure therapy with passive activity, and in terms of control strategy, it uses an intelligent pressure adjustment algorithm instead of the traditional manual adjustment mode, enabling adaptive pressure control based on physiological feedback.

[0056] The above specific embodiments are merely optional embodiments of this utility model. Based on the technical solution of this utility model and the relevant teachings of the above embodiments, those skilled in the art can make various alternative improvements and combinations to the above specific embodiments.

Claims

1. A multifunctional intelligent foot and ankle rehabilitation robot, characterized in that, The foot and ankle rehabilitation robot consists of a support system, an intelligent pressure system, a motion control system, a multi-mode assessment system, and a data management system. The support system includes a fixed base plate (9) and support legs (14) installed above the four corners of the fixed base plate (9). A stabilizing frame (7) is fixedly connected above the support legs (14). The intelligent pressurization system includes a foot support base (3) installed in the middle of the top of the stabilizer (7), and the foot support base (3) is provided with a foot strap (2) for binding the feet and a pressurization system consisting of an air duct (4) and an air duct (5); The motion control system includes a six-degree-of-freedom motion mechanism (13) disposed below the foot support base (3) for driving the motion of the foot support base (3); The data management system includes a motion analysis module (12) mounted on a fixed base plate (9).

2. The multifunctional intelligent foot and ankle rehabilitation robot according to claim 1, characterized in that, The stabilizer (7) is connected to the multiple legs (14) by bolts.

3. The multifunctional intelligent foot and ankle rehabilitation robot according to claim 1, characterized in that, The foot support base (3) has a strip opening through which the foot strap (2) passes, and multiple position sensors (1) for ankle joint position monitoring are installed at the bottom of the foot support base (3).

4. The multifunctional intelligent foot and ankle rehabilitation robot according to claim 1, characterized in that, The six-degree-of-freedom motion mechanism (13) is also equipped with multiple sets of motion sensors (11) for acquiring its motion data.

5. A multifunctional intelligent foot and ankle rehabilitation robot according to claim 3, characterized in that, The bottom of the position sensor (1) is equipped with an intelligent pressurization controller (6) for controlling the pressure of the airbag (5).

6. The multifunctional intelligent foot and ankle rehabilitation robot according to claim 1, characterized in that, The outer wall of the stabilizer (7) is also equipped with multiple drive motors (8), and each set of drive motors (8) is equipped with a set of resistance adjusters (15). The control end of the drive motor (8) is also connected to a motor control box (10) for controlling motion parameters.

7. A multifunctional intelligent foot and ankle rehabilitation robot according to claim 6, characterized in that, The drive motor (8) is used to control the motion of the six-degree-of-freedom motion mechanism (13).

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