Exoskeleton type foot rehabilitation training device

Abstract

This application discloses an exoskeleton-type foot rehabilitation training device, comprising: a main body extending vertically, the extended end having a circular arc cross-section, and the main body having a pedal and a receiving cavity. The horizontal cross-section of the pedal is adapted to the contour of the sole of the rehabilitation user's foot, conforming to ergonomic structure. An opening is provided in the receiving cavity near the pedal; and a stretching component fixedly connected to the main body, securing the rehabilitation user's foot to the main body. The stretching component's elasticity, in conjunction with the main body, mimics normal gait movements. The advantages of this invention are comfortable wear and convenient use.

Description

Technical Field

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

[0002] With the development of robotics technology, lower limb exoskeleton rehabilitation training robots have been widely used in clinical practice. Numerous clinical trials and treatments have proven that this type of robot rehabilitation training method has significant effectiveness and can significantly improve patients' lower limb motor function and their enthusiasm for actively participating in rehabilitation training.

[0003] Although the clinical application of lower limb exoskeleton rehabilitation training robots has reached a certain scale, manufacturers are currently most concerned with issues related to robotic technology, such as robotic arms and joint technology. The current design of exoskeleton foot devices has three main limitations: First, the soles of the feet are mostly rigid flat structures that remain parallel to the ground, lacking simulation of natural gait; second, if the ankle joint is set to rotate freely, the stability is poor and the control requirements for patients are high, while adding active drive will significantly increase cost and complexity; third, some robots use a parallel design for both feet, which does not conform to the "outward toeing" angle characteristic of normal human gait. Utility Model Content

[0004] One advantage of this invention is that it provides an exoskeleton-type foot rehabilitation training device that is comfortable to wear and easy to use.

[0005] To achieve at least one of the advantages of this utility model, this utility model provides an exoskeleton-type foot rehabilitation training device, which includes: a main body extending vertically, the vertical cross-section of the extended end being an arc surface, and the main body having a pedal and a receiving cavity, the cross-section of the pedal in the horizontal direction being adapted to the contour of the sole of the rehabilitation personnel's foot, conforming to the ergonomic structure, and an opening provided on the side of the receiving cavity near the pedal; and a stretching component, the stretching component being fixedly connected to the main body, fixing the rehabilitation personnel's foot to the main body, and utilizing the elasticity of the stretching component in conjunction with the main body to mimic normal gait movements.

[0006] According to one embodiment of the present invention, a monitoring component is further included. The monitoring component is fixedly installed in the receiving cavity and includes a front sensing support plate, a front sensor, a rear sensing support plate, and a rear sensor. The front sensing support plate is fixedly installed in the receiving cavity. One end of the front sensor is fixedly connected to the front sensing support plate, and the other end is fixedly connected to the pedal. The rear sensing support plate is fixedly installed on the side of the receiving cavity near the front sensing support plate. One end of the rear sensor is fixedly installed on the rear sensing support plate, and the other end is fixedly installed on the pedal.

[0007] Through the above scheme, the front sensor can sense the training parameters of the pedal near the ball of the foot, and the rear sensor can sense the training parameters of the pedal near the ankle. The acquired training data is then transmitted to the externally connected rehabilitation training equipment, thereby enabling more precise adjustment and optimization of the rehabilitation training program.

[0008] According to one embodiment of the present invention, a wearing component is further included. The wearing component is fixedly installed on the body and includes an ankle fixing strap and an instep fixing strap. The ankle fixing strap is adjustablely installed on the pedal and close to the rear sensor. It adopts four-point tension adjustment and forms a closed loop after wrapping around the ankle. The instep fixing strap is adjustablely installed on the pedal and close to the front sensor. The pedal and the instep fixing strap form a closed space.

[0009] With the above solution, rehabilitation personnel can use ankle fixation straps to fix their ankles to the pedals and instep fixation straps to fix their feet to the pedals, preventing their feet from detaching from the exoskeleton-type foot rehabilitation training device during rehabilitation training and causing secondary injury.

[0010] According to one embodiment of the present invention, a connecting component is further included, one end of which is fixedly connected to the main body, and the other end is configured to be rigidly connected to an external training device.

[0011] The above solution allows the main body to be connected to an external rehabilitation training device via a connecting component.

[0012] According to one embodiment of the present invention, the connecting assembly includes a fixed plate, a movable component, and a lower leg robotic arm component. The fixed plate is T-shaped, with one end fixedly mounted on the side of the main body near the pedal, and the other end fixedly connected to the movable component. One end of the movable component is fixedly connected to the fixed plate, and the other end is rotatably mounted on the lower leg robotic arm component. One end of the lower leg robotic arm component is rotatably connected to the movable component, and the other end is connected to an external training device.

[0013] The above solution allows for a rigid connection between the fixed plate and the moving component, thereby enabling the main body to be connected to the lower leg robotic arm component.

[0014] According to one embodiment of the present invention, a certain gap is left between the pedal and the fixing plate.

[0015] The above scheme helps the monitoring component to perceive the changes in the position and angle of the pedal in the coronal and sagittal planes during the rehabilitation training process, thereby obtaining the rehabilitation training parameters of the rehabilitation personnel.

[0016] According to one embodiment of the present invention, the stretching assembly includes an upper hanging plate, which is fixedly mounted on the lower leg robotic arm.

[0017] The above solution allows the main body to be easily positioned at a certain angle to the external docking rehabilitation training device, conforming to the normal walking form of a person and greatly improving the comfort of using the exoskeleton-type foot rehabilitation training device.

[0018] According to one embodiment of the present invention, the tensioning assembly further includes a telescopic spring, an upper hanging hole is provided on the upper hanging plate, and a lower hanging hole is also provided on the side of the fixed plate away from the moving member. One end of the telescopic spring is installed in the upper hanging hole, and the other end is installed in the lower hanging hole.

[0019] The above solution allows for easy elastic connection between the telescopic spring, the upper hanging plate, and the fixed plate, enabling the pedal to be in a pre-tensioned back extension state. For patients of different weights, different specifications or numbers of telescopic springs can be installed to obtain a suitable pre-tensioned back extension state for achieving a correct and comfortable gait.

[0020] The beneficial effects of this utility model are that it is comfortable to wear and convenient to use.

[0021] The further objectives and advantages of this utility model will become fully apparent from the following description.

[0022] These and other objects, features and advantages of this utility model will be fully realized through the following detailed description. Attached Figure Description

[0023] Figure 1 A three-dimensional schematic diagram of the exoskeleton-type foot rehabilitation training device of this utility model is shown.

[0024] Figure 2 A partial frontal cross-sectional view of the exoskeleton-type foot rehabilitation training device of this utility model is shown.

[0025] Figure 3A top view schematic diagram of the exoskeleton-type foot rehabilitation training device of this utility model is shown.

[0026] Figure 4 A frontal view of the exoskeleton-type foot rehabilitation training device of this utility model is shown.

[0027] Figure 5 This is a frontal view of another state of the exoskeleton-type foot rehabilitation training device of this utility model.

[0028] Figure 6 The diagram shows a frontal view of the third state of the exoskeleton-type foot rehabilitation training device of this invention. Reference numerals: 10. Main body; 11. Pedal; 111. Connecting ring; 12. Receiving cavity; 13. Opening; 14. Arc surface; 20. Monitoring component; 21. Front sensor support plate; 22. Front sensor; 23. Rear sensor support plate; 24. Rear sensor; 30. Wearing component; 31. Ankle fixing strap; 32. Instep fixing strap; 33. Velcro; 40. Connecting component; 41. Fixing plate; 411. Lower hanging hole; 42. Moving part; 43. Lower leg robotic arm part; 50. Tensioning component; 51. Upper hanging plate; 511. Upper hanging hole; 52. Telescopic spring. Detailed Implementation

[0029] The following description is intended to disclose the present invention so that those skilled in the art can implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art. The basic principles of the present invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the present invention.

[0030] Those skilled in the art should understand that, in the disclosure of this utility model, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "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 utility model 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, the above terms should not be construed as limitations on this utility model.

[0031] It is understood that the term "a" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element can be one, while in another embodiment, the number of the element can be multiple, and the term "a" should not be understood as a limitation on the number.

[0032] refer to Figures 1 to 6 An exoskeleton-type foot rehabilitation training device according to a preferred embodiment of the present invention will be described in detail below: The exoskeleton-type foot rehabilitation training device includes a main body 10 and a monitoring component 20. The main body 10 extends vertically, and the vertical cross-section of the extended end is an arc surface 14, which conforms to the shape of a conventional shoe sole, helping the rehabilitation personnel to mimic normal gait movements. A pedal 11 is also provided on the main body 10. The cross-section of the pedal 11 in the horizontal direction is adapted to the contour of the user's foot, allowing the user's foot to fit snugly against the pedal 11. This design improves the wearing comfort of the exoskeleton-type foot rehabilitation training device. There is a receiving cavity 12 inside the main body 10, and the receiving cavity 12 has an opening 13 on the side near the pedal 11 that communicates with the outside. The monitoring component 20 is fixedly installed in the receiving cavity 12 of the main body 10 and is fixedly connected to the pedal 11. The monitoring component 20 can monitor the training parameters of the rehabilitation personnel when wearing the exoskeleton-type foot rehabilitation training device in real time, and then adjust and optimize the rehabilitation training program in real time.

[0033] Further, the monitoring component 20 includes a front sensing support plate 21, a front sensor 22, a rear sensing support plate 23, and a rear sensor 24. The front sensing support plate 21 is fixedly installed within the receiving cavity 12 of the body 10. One end of the front sensor 22 is fixedly connected to the front sensing support plate 21, and the other end is fixedly connected to the pedal 11. The rear sensing support plate 23 is fixedly installed within the receiving cavity 12 of the body 10, and the rear sensing support plate 23 is installed on the side close to the front sensing support plate 21. The rear sensor... One end of sensor 24 is fixedly mounted on the rear sensor support plate 23, and the other end is fixedly mounted on the pedal 11. With this design, when rehabilitation personnel use the exoskeleton-type foot rehabilitation training device for training, the front sensor 22 can sense and obtain the training parameters of the pedal 11 near the foot, and the rear sensor 24 can sense and obtain the training parameters of the pedal 11 near the ankle. The obtained training data is then transmitted to the externally connected rehabilitation training equipment, so that the rehabilitation training program can be adjusted and optimized more accurately, thereby improving the rehabilitation training effect of rehabilitation personnel.

[0034] In this embodiment, the calculation and transmission of training data collected by the front sensor 22 and the rear sensor 24 are existing technologies, so they will not be described in detail here.

[0035] Specifically, the exoskeleton-type foot rehabilitation training device also includes a wearing component 30. Multiple connecting rings 111 are provided on the pedal 11. The wearing component 30 is fixedly installed on the connecting rings 111 of the pedal 11. The wearing component 30 includes an ankle fixation strap 31 and an instep fixation strap 32. The ankle fixation strap 31 is adjustablely installed within the connecting rings 111 of the pedal 11, and is installed on the side near the rear sensor 24. The ankle fixation strap 31 has a four-point tension adjustment, which can meet the spatial position adjustment needs of the rehabilitation personnel in the coronal and sagittal planes. The rehabilitation personnel adjust the position of the ankle fixation strap 31 according to their ankle size, and then wrap it around the ankle to form a closed loop, thereby completely covering the rehabilitation personnel's ankle.

[0036] The instep fixing strap 32 is adjustablely mounted on the connecting ring 111 of the pedal 11, and the instep fixing strap 32 is mounted on the side close to the front sensor 22. In this configuration, the pedal 11 and the instep fixing strap 32 form an adjustable closed loop, thereby completely fixing the patient's foot to the pedal 11, and thus completely fixing the patient's foot to the pedal 11. This prevents the patient's foot from slipping off the pedal 11 during rehabilitation training, which could cause irreversible damage to the foot and greatly improves the training safety of the exoskeleton foot rehabilitation training device.

[0037] Furthermore, Velcro 33 is sewn onto both the ankle fixation strap 31 and the instep fixation strap 32, which allows rehabilitation personnel to quickly tighten the ankle fixation strap 31 and the instep fixation strap 32, thereby quickly putting on the exoskeleton-type foot rehabilitation training device and improving the user experience of the exoskeleton-type foot rehabilitation training device.

[0038] Specifically, the exoskeleton-type foot rehabilitation training device further includes a connecting component 40 and a stretching component 50. One end of the connecting component 40 is fixedly connected to the main body 10, and the other end is connected to an external rehabilitation training device. One end of the stretching component 50 is fixedly installed on the main body 10, and the other end is fixedly connected to the connecting component 40.

[0039] Furthermore, the connecting assembly includes a fixed plate 41, a movable component 42, and a lower leg robotic arm component 43. The fixed plate 41 is T-shaped and is fixedly mounted on the body 10. The fixed plate 41 is mounted on the side near the pedal 11. In this embodiment, a certain gap is reserved between the pedal 11 and the fixed plate 41 to facilitate the front sensor 22 and the rear sensor 24 in sensing the coronal and sagittal position and angle changes of the pedal 11 during the rehabilitation training process, thereby obtaining the rehabilitation training parameters of the rehabilitation personnel. One end of the movable component 42 is fixedly connected to the fixed plate 41, and the other end of the movable component 42 is rotatably mounted on the lower leg robotic arm component 43. One end of the lower leg robotic arm component 43 is rotatably connected to the movable component 42, and the other end is connected to an external training device. With this design, the body 10 can perform rehabilitation training on the feet of the rehabilitation personnel under the drive of the external training device.

[0040] Furthermore, the stretching assembly 50 includes an upper hanging plate 51 and a telescopic spring 52. One end of the upper hanging plate 51 is fixedly installed on the lower leg robotic arm 43. Multiple sets of upper hanging holes 511 are opened on the side wall of the other end of the upper hanging plate 51. Multiple sets of lower hanging holes 411 are also opened on the side of the fixed plate 41 away from the moving part 42. One end of the telescopic spring 52 is fixedly installed in any of the upper hanging holes 511 on the upper hanging plate 51, and the other end of the telescopic spring 52 is fixedly installed in any of the lower hanging holes 411 on the fixed plate 41. In this embodiment, the telescopic spring 52 has a certain pre-tension length during installation, and the model and quantity of the telescopic spring 52 are not unique and can be adjusted according to the actual needs of the rehabilitation personnel. This setting allows the pedal 11 to be in a back extension state with a certain pre-tension force. For patients of different weights, different specifications or quantities of telescopic springs 52 can be selected to obtain a suitable back extension state with pre-tension force to achieve a correct and comfortable gait.

[0041] With the above setup, the main body is connected to an external rehabilitation training device via the connecting component. Then, the rehabilitation personnel's feet are fixed on the pedal by the wearing component, and telescopic springs of appropriate size and number for the rehabilitation personnel's weight are attached. Thus, rehabilitation training is carried out under the drive of the external rehabilitation training device, which greatly improves the user experience of the exoskeleton-type foot rehabilitation training device.

[0042] Those skilled in the art should understand that the embodiments of the present invention described above and shown in the accompanying drawings are merely examples and do not limit the present invention. The advantages of the present invention have been fully and effectively realized. The functional and structural principles of the present invention have been shown and explained in the embodiments, and any modifications or variations may be made to the implementation of the present invention without departing from the stated principles.

Claims

1. An exoskeleton-type foot rehabilitation training device, characterized in that, include: The body extends vertically into the distance, and the vertical cross-section of the extended end is an arc surface. The body has a pedal and a receiving cavity. The cross-section of the pedal in the horizontal direction is adapted to the contour of the sole of the rehabilitation personnel's foot, which conforms to the ergonomic structure. An opening is provided on the side of the receiving cavity near the pedal. And a stretching component, which is fixedly connected to the body to fix the rehabilitation person's feet to the body. By utilizing the stretching elasticity of the stretching component and its interaction with the body, normal gait movement can be biomimetic.

2. The exoskeleton-type foot rehabilitation training device according to claim 1, characterized in that, It also includes a monitoring component, which is fixedly installed in the receiving cavity. The monitoring component includes a front sensing support plate, a front sensor, a rear sensing support plate, and a rear sensor. The front sensing support plate is fixedly installed in the receiving cavity. One end of the front sensor is fixedly connected to the front sensing support plate, and the other end is fixedly connected to the pedal. The rear sensing support plate is fixedly installed on the side of the receiving cavity near the front sensing support plate. One end of the rear sensor is fixedly installed on the rear sensing support plate, and the other end is fixedly installed on the pedal.

3. The exoskeleton-type foot rehabilitation training device according to claim 2, characterized in that, It also includes a wearing component, which is fixedly installed on the body, including an ankle fixation strap and an instep fixation strap. The ankle fixation strap is adjustablely installed on the pedal and close to the rear sensor, and uses four-point tension adjustment to form a closed loop after wrapping around the ankle. The instep fixation strap is adjustablely installed on the pedal and close to the front sensor. The pedal and the instep fixation strap form a closed space.

4. The exoskeleton-type foot rehabilitation training device according to claim 1, characterized in that, It also includes a connection component, one end of which is fixedly connected to the body and the other end is configured to be rigidly connected to an external training device.

5. The exoskeleton-type foot rehabilitation training device according to claim 4, characterized in that, The connecting assembly includes a fixed plate, a movable component, and a lower leg robotic arm. The fixed plate is T-shaped, with one end fixedly mounted on the side of the main body near the pedal and the other end fixedly connected to the movable component. One end of the movable component is fixedly connected to the fixed plate, and the other end is rotatably mounted on the lower leg robotic arm. One end of the lower leg robotic arm is rotatably connected to the movable component, and the other end is connected to an external training device.

6. The exoskeleton-type foot rehabilitation training device according to claim 5, characterized in that, A certain gap is left between the pedal and the fixing plate.

7. The exoskeleton-type foot rehabilitation training device according to claim 5, characterized in that, The stretching assembly includes an upper hanging plate, which is fixedly mounted on the lower leg robotic arm.

8. The exoskeleton-type foot rehabilitation training device according to claim 7, characterized in that, The tensioning assembly also includes a telescopic spring. An upper hanging hole is provided on the upper hanging plate, and a lower hanging hole is also provided on the side of the fixed plate away from the moving part. One end of the telescopic spring is installed in the upper hanging hole, and the other end is installed in the lower hanging hole.

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