55 results about "Ankle motion" patented technology

A prosthetic ankle and foot combination has an ankle joint mechanism constructed to allow damped rotational movement of a foot component relative to a shin component. The mechanism provides a continuous hydraulically damped range of ankle motion during walking with dynamically variable damping resistances, and with independent variation of damping resistances in the plantarflexion and dorsiflexion directions. An electronic control system coupled to the ankle joint mechanism includes at least one sensor for generating signals indicative of a kinetic or kinematic parameter of locomotion and / or walking environment, the mechanism and the control system being arranged such that the damping resistances effective over the range of motion of the ankle are adapted automatically in response to such signals. Single and dual piston hydraulic damping arrangements are disclosed, including arrangements allowing independent heel-height adjustment.

The present invention relates to a foot and ankle exercise device. The exercise device may include a foot strap, a pull strap, a handle, and a resistance band. The foot strap may be adjustable to secure the device to a user's foot. The pull strap may have a first end attached to the foot strap. The handle may be disposed on a second end of the pull strap and may be configured to allow the user to apply tension to the pull strap. The resistance band may be disposed on the pull strap between the first end and the second end of the pull strap.

Devices and methods for preventing ankle sprain injuries. To protect the ankle joint from acute ankle supination or inversion sprain injuries, the device comprises a sensing part configured to sense data of an ankle motion; an analyzing part configured to analyze the data to judge whether the motion is a sprain motion; and a stimulating part configured to stimulate one or more lower limb muscles against the motion in light of a result of the analyzing. The method also involves sensing data of an ankle motion; analyzing the data to judge whether the motion is a sprain motion; and stimulating one or more lower limb muscles against the motion if the motion is a sprain motion.

The invention discloses a flexible ankle rehabilitation robot system. An execution module is connected with a foot module through a Bowden cable and a shank module, and a tension module for measuringtransmission force of the Bowden cable is arranged between the shank module and the foot module; a shank gyroscope is arranged on the shank module, a foot gyroscope and a pressure insole are arrangedon the foot module, a heel pressure sensor and a foot sole pressure sensor are arranged on the pressure insole, and the shank gyroscope and the foot gyroscope are arranged on the front face and the foot face of the shank of a user correspondingly; the pressure insole is located inside the foot module, sends a control instruction towards the execution module through an upper computer and receives sensing feedback information; the execution module transmits torque through the Bowden cable and the shank module to the foot module, so that ankle movement is assisted; and the shank gyroscope and thefoot gyroscope are mutually matched for detecting ankle motion information. The flexible ankle rehabilitation robot system is low in weight and achieves the gait training function for users with abnormal gaits of foot drop and strephenopodia.

A prosthetic ankle and foot combination has an ankle joint mechanism constructed to allow damped rotational movement of a foot component relative to a shin component. The mechanism provides a continuous hydraulically damped range of ankle motion during walking with dynamically variable damping resistances, and with independent variation of damping resistances in the plantar-flexion and dorsi-flexion directions. An electronic control system coupled to the ankle joint mechanism includes at least one sensor for generating signals indicative of a kinetic or kinematic parameter of locomotion, the mechanism and the control system being arranged such that the damping resistances effective over the range of motion of the ankle are adapted automatically in response to such signals. Single and dual piston hydraulic damping arrangements are disclosed, including arrangements allowing independent heel-height adjustment.

The invention discloses an autonomous rehabilitation training system and method. The system comprises: an unaffected side ankle motion detection device, an affected side ankle rehabilitation training device, an electromyograph (EMG) detection device, and an functional electrical stimulation (FES) device; the unaffected side ankle motion detection device is used mainly for detecting patient's unaffected side data of unaffected side ankle motion, such as angle, speed and exerting power; the affected side ankle rehabilitation training device is used mainly for training the patient's affected side for rehabilitation and detecting the patient's unaffected side data of affected side ankle motion, such as angle, speed and exerting power; the EMG detection device is used mainly for detecting EMG signals of unaffected side muscles when the patient is in motion; the FES device is used mainly for performing electrical simulation auxiliary training for affected side muscles. The patient's subjective activity and passive training are combined fully to improve rehabilitation effect; the autonomous rehabilitation training system combining patient's unaffected side motion and affected side training is established using multi-information fusion technology.

The invention discloses a tandem experiment facility with five degrees of freedom for simulating ankle gaits. The tandem experiment facility comprises a general framework, a tibial shaft, a cadaver ankle tibia insertion rod, a frontward and backward movement mechanism and control system, a sagittal-plane-within rotation mechanism and control system, a coronal-plane-within rotation mechanism and control system, a level-within rotation mechanism and control system, a vertical movement mechanism and control system, a tibia loading mechanism and control system, and a muscle loading mechanism and control system. The tandem experiment facility can simulate kinematics actions in the stance phase of the ankle giants within 3 seconds to 5 seconds, can simulate dynamics in the stance phase of the ankle giants, and can collect ankle kinematics and dynamics data to obtain complete, comprehensive and effective data of original experiments on kinematics and dynamics in the stance phase of the ankle gaits, thereby providing a dynamics experiment and theoretical research platform for discussions of clinical ankle motion system disease mechanism, scientific verification of operative plans, researches of ankle motion injury and protection, development of bionic ankle systems, and the like.

Devices and methods for preventing ankle sprain injuries. To protect the ankle joint from acute ankle supination or inversion sprain injuries, the device comprises a sensing part configured to sense data of an ankle motion; an analyzing part configured to analyze the data to judge whether the motion is a sprain motion; and a stimulating part configured to stimulate one or more lower limb muscles against the motion in light of a result of the analyzing. The method also involves sensing data of an ankle motion; analyzing the data to judge whether the motion is a sprain motion; and stimulating one or more lower limb muscles against the motion if the motion is a sprain motion.

The invention discloses a robot crus structure capable of imitating human body ankle motions by utilizing pull rods. The robot crus structure capable of imitating human body ankle motions by utilizing the pull rods comprises a supporting frame, a foot plate, a framework, an inner shaft rod and the two rear pull rods, wherein the supporting frame is arranged under knees of a robot and is adjacent to the positions of two driving modules, two first pivot joint portions are arranged at the top of the supporting frame, the foot plate is arranged at the bottom of the supporting frame, the framework is positioned between the two first pivot joint portions, outer shaft rods are respectively arranged at two corresponding sides of the framework, each outer shaft rod is in pivot joint with each first pivot joint portion and penetrates through each first pivot joint portion to be connected with each driving module, the inner shaft rod penetrates through the other two corresponding sides, a connection rod is arranged at one end of the inner shaft rod, two ends of each rear pull rod are respectively connected with the connection rod and the foot plate, when the outer shaft rods and the inner shaft rod are respectively driven to move, the framework and the connection rod respectively swing back and forth, and side to side, and the pull rods are similar to crus muscles of a human body and control the foot plate to make various ankle motions.

The invention provides a gait feature extraction and generation method for ankle joint ligament injury and a system. The gait feature extraction and generation method includes the steps of ankle motion measurement, data preprocessing, gait phase segmentation, gait feature space construction, gait feature generating, authenticity and generative feature correlation evaluation and visual verificationof generative feature validity. The problems of low feature quality and insufficient sample size in an existing medical system are solved. By collecting gait data of a subject and aiming at the anklejoint ligament injury, a small sample data set of an injury group and a control group is established, feature refinement comparison and analysis are carried out based on an anthropometric method, a gait feature space of ankle joint injury is established, gait feature generation and validity verification are carried out, and a large amount of high-quality and efficient feature data support based on anthropometry is provided for research and application in related fields such as intelligent ankle injury diagnosis and decision-making based on big data, precise construction of rehabilitation programs, and development of assisted exoskeleton robots.

A device and a method to prevent ankle sprain injuries, which are able to detect hazardous situations during malpractice of physical or regular activity and to avoid incidents by deploying an inflatable airbag to block and stabilize the user's ankle joint. A series of sensors monitor the user's ankle motion pattern and provide data to an analyzing part, which indicates whether the movement is hazardous and, upon danger recognition, triggers the inflation of an airbag device to block the user's ankle.

An exercise device for exercising the lower legs of airline passengers. The device includes a support structure, and a foot platform that is movably mounted to the support structure. A motor is interconnected with the foot platform by a crank arrangement to provide powered reciprocation of the foot platform. The exercise device has a low profile, enabling the exercise device to fit under an airline seat. Elastic straps or other suitable restraints are provided on the moving foot platform to hold a passenger's feet in place. The ankle motion resulting from the reciprocation of the foot support stretches and / or relaxes the lower leg muscles to alleviate blood stasis of the lower leg.

The invention belongs to the technical field of signal identification, particularly relates to a Parkinson's disease patient dyskinesia quantification and identification method based on a support vector machine, and aims to solve the problem that Parkinson's disease patient dyskinesia quantification and identification cannot be accurately realized in the prior art. The method comprises the following steps: acquiring wrist motion signals and ankle motion signals of a tested object and a healthy person; carrying out resampling and signal synthesis on the signals; extracting a walking interval through a sliding window; extracting the gait features of the measured object and the healthy person respectively; normalizing the gait features and classifying the gait features through a trained support vector machine; calculating Pr values, wherein the intervals Pr is greater than 0.9, Pr is less than 0.9 and greater than or equal to 0.6, Pr is less than 0.6 and greater than or equal to 0.5 and Pr is less than 0.5, which corresponds to a severe Parkinson's disease patient, a moderate Parkinson's disease patient, a mild Parkinson's disease patient and a non-Parkinson's disease patient respectively. The Parkinson's disease patient dyskinesia quantification and identification method is high in accuracy, high in precision, small in occupied resource, suitable for remote medical treatment, lowin cost and high in efficiency.

The invention discloses a robot crus structure capable of imitating human body ankle motions by utilizing pull rods. The robot crus structure capable of imitating human body ankle motions by utilizing the pull rods comprises a supporting frame, a foot plate, a framework, an inner shaft rod and the two rear pull rods, wherein the supporting frame is arranged under knees of a robot and is adjacent to the positions of two driving modules, two first pivot joint portions are arranged at the top of the supporting frame, the foot plate is arranged at the bottom of the supporting frame, the framework is positioned between the two first pivot joint portions, outer shaft rods are respectively arranged at two corresponding sides of the framework, each outer shaft rod is in pivot joint with each first pivot joint portion and penetrates through each first pivot joint portion to be connected with each driving module, the inner shaft rod penetrates through the other two corresponding sides, a connection rod is arranged at one end of the inner shaft rod, two ends of each rear pull rod are respectively connected with the connection rod and the foot plate, when the outer shaft rods and the inner shaft rod are respectively driven to move, the framework and the connection rod respectively swing back and forth, and side to side, and the pull rods are similar to crus muscles of a human body and control the foot plate to make various ankle motions.

The invention discloses an ankle joint rehabilitation training device, including a drive unit, a linkage mechanism, a pedal unit, a fixing unit and a controller, wherein at the time of use, the sole of the foot of the patient steps on the pedal unit, and the fixing unit is used to adjust and fix the position while the patient adjusts proper posture; after the power supply is turned on, the controller is used to start the device, and then the motor starts to work to drive the lead screw to start to run, the lead screw drives the guide block, the external thread on the lead screw and the internal thread in the guide block cooperate with each other, the guide block moves forward and backward to drive the connecting rod mechanism connected with it; and at the same time, the pedal device arranged on the connecting rod mechanism can swing backward and backward. The invention has the advantages of simple structure, convenient use and portability, and can be used for treating patients with different injury degrees of ankle joints, can control ankle movement strength and angle, can prevent patients with long-term bed rest from foot droop and muscle atrophy, and has good therapeutic effect,fast recovery time and strong practicability, and can reduce the workload of nurses and family members.

A lower leg guard device is disclosed allowing a full range of ankle motion, while at the same time preventing impact injuries to the lower leg, including the Achilles area, the ankle, and the shin. The lower leg guard device includes two substantially rigid exterior shells each with a cushioned interior liner. The lower leg guard device can be securely attached to the lower leg with one or more attachment straps, and with at least one floating attachment pad that attaches to the wearer's footwear. A floating attachment pad can be positioned over both the inner side and outer side of the ankle, preferably attached to footwear that covers the ankle. The floating attachment pads are attached to the footwear using removable fasteners, located on the exterior surface of the footwear worn by the wearer, so that the guard device can be quickly and easily put on and removed.

The invention discloses a vehicle-mounted brake device for an automobile rear impact test, which mainly comprises an electric control device, a pneumatic device and a mechanical connection device. Theelectric control device comprises a controller; the controller is electrically connected with a valve control module, a test trigger interface, a reset button, a trigger switch and a delay module; the test trigger interface is externally connected to the trigger switch; and the trigger switch is attached to the most protruding part of the rear impact surface of an impacted vehicle. The pneumaticdevice comprises a gas cylinder, a pipeline and a leg type device, the gas cylinder is connected with the leg type device through the pipeline, the valve control module is arranged on the pipeline, and the leg type device is a cylinder and piston rod assembly; the mechanical connection device is used to connect the leg type device to a seat and simulate knee and ankle motions. The vehicle-mountedbrake device has the advantages of simple structure, convenient installation, stable and reliable braking effect, and installation and use are not limited by the vehicle type.

A lower leg guard device is disclosed allowing a full range of ankle motion, while at the same time preventing impact injuries to the lower leg, including the Achilles area, the ankle, and the shin. The lower leg guard device includes two substantially rigid exterior shells each with a cushioned interior liner. The lower leg guard device can be securely attached to the lower leg with one or more attachment straps, and with at least one floating attachment pad that attaches to the wearer's footwear. A floating attachment pad can be positioned over both the inner side and outer side of the ankle, preferably attached to footwear that covers the ankle. The floating attachment pads are attached to the footwear using removable fasteners, located on the exterior surface of the footwear worn by the wearer, so that the guard device can be quickly and easily put on and removed.

The invention belongs to the technical field of inertial signal perception recognition and Parkinson's intelligent medical treatment, and specifically relates to a wearable device for quantifying and identifying Parkinson's patients' movement disorders, aiming to solve the problem of lack of reliable and non-invasive wearable devices to accurately realize Parkinson's patients. The problem of quantification and identification of dyskinesias. The invention includes: collecting wrist motion signals and ankle motion signals through the wrist inertial measurement unit and ankle inertial measurement unit worn on different sides of the body of the measured object and the healthy person, and extracting the characteristics of the signals; sending the extracted characteristics to the output processing terminal , through the preset quantification and identification method of Parkinson's patient's movement disorder, the disease degree of the measured object is obtained and output. The invention is simple in structure, easy to operate, suitable in size and convenient to wear, low in power consumption, and combined with motion signals of the wrist and ankle, the judgment result is accurate and reliable.

The T-shaped shoe comprises an ankle plate and a foot sole plate, the foot sole plate is arranged above the ankle plate, a pin shaft is installed at the bottom end of the foot sole plate, the foot sole plate is movably connected with the ankle plate through the pin shaft, limiting grooves are symmetrically formed in the side wall of the ankle plate and the side wall of the foot sole plate, and the foot sole plate is movably connected with the foot sole plate through the pin shaft. The side walls of the sole plate and the ankle plate on one side of the limiting groove are both provided with hook faces, the ankle plate and the side wall, away from the hook faces, of the sole plate are both provided with two sets of hook-and-loop fastener elastic bands, a sole protective cover is arranged outside the sole plate, and an ankle protective cover is arranged outside the ankle plate. T-shaped strips are symmetrically mounted on the inner walls of the sole protective cover and the ankle protective cover, and the T-shaped strips are slidably connected with the limiting grooves. According to the utility model, the foot sole and the ankle can be conveniently clamped and protected, the auxiliary rehabilitation training of the foot sole is facilitated, and the use comfort is improved.

The invention relates to the technical field of bare pump exercise, in particular to an ankle pump exercise machine for the neurosurgery department. The ankle pump exercise machine comprises an exercise mechanism; the exercise mechanism at least comprises a sliding device, a foot supporting structure and an ankle exercise device; the sliding device comprises a base; a strip-shaped groove is formed in one side end of the base; an outer servo motor is installed at one side end part of the base; sliding mechanisms are symmetrically arranged in the strip-shaped groove; each sliding mechanism comprises a rotating rod, a rotating rod nut seat, a fixed block, a connecting block, a driving shaft and an inner servo motor; the foot supporting structure comprises a heel seat; the ankle exercise device comprises a sole plate and a connecting part; the connecting part and the heel seat are installed and fixed; and the sole plate is used for fitting exercise on the sole part. By means of the sliding device, a foot supporting device and the ankle exercise device, the ankle can be movably unfolded, namely, the feet can be subjected to rehabilitation exercise.

Systems and methods for providing assistance with human motion, including hip and ankle motion, are disclosed. Sensor feedback is used to determine an appropriate profile for actuating a wearable robotic system to deliver desired joint motion assistance. Variations in user kinetics and kinematics, as well as construction, materials, and fit of the wearable robotic system, are considered in order to provide assistance tailored to the user and current activity.

The invention discloses a multi-degree-of-freedom ankle joint intelligent rehabilitation device, comprising: a base, including a left L-shaped connecting seat and a right L-shaped connecting seat; a wearable calf component fixedly arranged on the mounting seat body; a wearable foot plate The components are distributed on the lower front of the calf wearable component; the left follower component is fixed on the left end surface of the foot wearable component; the right follower component is fixed on the right end surface of the foot wearable component; the left follower component and the right follower The top of the moving component is correspondingly connected to the left L-shaped connecting seat and the right L-shaped connecting seat; the plantar dorsiflexion driving component is connected with the left driving component, and is used to drive the left moving component and the right following component for plantar flexion / The rotational motion in the dorsiflexion direction drives the foot plate wearable components to do plantar flexion / dorsiflexion. The invention can realize the automation of ankle joint plantarflexion / back extension movement, can better simulate ankle joint movement, and improves the effectiveness, flexibility and comprehensiveness of ankle joint rehabilitation training.

This invention discloses an automatic jump rope counting method and system based on visual and speech collaborative recognition. The method simultaneously acquires video and audio streams from the jumper; extracts the Y-coordinate trajectory data of both ankles from the video stream, and determines the reliability of trajectory points through background interference identification, followed by adaptive filtering to obtain a smooth sequence of ankle movement trajectories; extracts spectral features from the audio stream and identifies key audio events. The identified key audio points are time-aligned with the footwork cycles analyzed from the trajectory sequence, and through multimodal information fusion verification, the trajectory peaks representing valid jumps are accurately identified. Finally, automatic counting is completed based on the number of peaks. This invention integrates visual and speech information, mutually correcting each other, effectively overcoming interference from complex environments, and significantly improving the accuracy and reliability of the counting results.

The invention provides a wearable ultrasonic and robot-assisted fused ankle instability assessment method and rehabilitation system, and the method comprises the steps: 1, enabling an ankle rehabilitation robot to drive a tester to do dorsal flexion, introversion, plantar flexion and introversion, and dorsal flexion and extroversion motions, and obtaining an ankle motion curve; 2, arranging a wearable ultrasonic device on a tester, and collecting muscle change data of muscle parts of the tester through the wearable ultrasonic device; 3, extracting ankle motion stability evaluation index features, wherein the features specifically comprise an overall offset condition index MD for measuring a track, a fluctuation amplitude RMSD for reflecting deviation and a unified measurement standard NRMSD; 4, extracting muscle strength stability evaluation index characteristics; 5, performing rehabilitation grade evaluation according to the ankle movement stability evaluation index characteristics; and 6, performing rehabilitation grade evaluation according to the muscle strength stability evaluation index characteristics. By applying the technical scheme, the instability of the ankle joint can be evaluated more objectively, comprehensively and accurately.

The invention relates to an ankle joint motion intention recognition method and system based on plantar pressure. The method comprises the following steps: firstly, acquiring the pressure of each part of a foot sole by using a foot sole pressure sensor, realizing a communication function of an upper computer and a lower computer through a USB, and compiling a pressure acquisition program of the upper computer to realize a data receiving and transmitting function of the lower computer; and after plantar pressure of a patient is acquired, concluding a data processing process capable of generally obtaining a good recognition rate through experimental comparison. The ankle motion intention of the patient can be recognized through the plantar pressure, and the good recognition rate can be generally obtained.

The invention belongs to the technical field of signal recognition, and specifically relates to a support vector machine-based method for quantifying and identifying movement disorders of Parkinson's patients, aiming to solve the problem that the prior art cannot accurately quantify and identify the movement disorders of Parkinson's patients. The invention includes: obtaining wrist motion signals and ankle motion signals of the measured object and healthy persons; resampling and signal synthesis of the signals; extracting walking intervals through sliding windows; and extracting gait characteristics of the measured object and healthy persons respectively ; normalize the gait features and classify them through the trained support vector machine; calculate the Pr value, the interval Pr>0.9, 0.9>Pr≥0.6, 0.6>Pr≥0.5, Pr<0.5 respectively correspond to the measured object Severe Parkinson's patients, moderate Parkinson's patients, mild Parkinson's patients, non-Parkinson's patients. The present invention has high accuracy rate and high precision in the quantification and identification of Parkinson's patient's dyskinesia, takes up less resources, is also applicable to telemedicine, reduces costs, and improves efficiency.