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54 results about "Dorsal flexion" patented technology
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Lower extremity passive muscle manipulation device and method
InactiveUS20050251067A1Increase blood flowStabilize legBlood stagnation preventionGymnastic exercisingDiseaseVein
This invention provides a mechanical lower extremity manipulation device to increase venous blood flow in lower extremities for the prevention of deep vein thrombosis (DVT), pulmonary embolism (PE), lower extremity edema, and other associated or related conditions. Foot plates pivoting on a base plate can be powered to provide a reciprocating action to the feet of a reclining patient. Straps can hold the patient's legs against the base plate so that the reciprocating action results in alternate planar flexion and dorsal flexion of the foot without movement of the leg in general. The resulting elongation and retraction of lower leg muscles can improve venous blood flow to reduce the risk of pathologies, such as DVT.
Owner:RGT UNIV OF CALIFORNIA
Robot for rehabilitation training of ankle joint
The invention relates to a robot for rehabilitation training of an ankle joint. The robot comprises a movable platform provided with a pedal plate, a base provided with a sliding chute and a regulating mechanism. The regulating mechanism comprises a central constraint rod, a guide rail, at least two support rods and a driving motor, wherein the central constraint rod is rotatably connected with the movable platform by virtue of a spherical pair; the guide rail is contained in the sliding chute, and is internally provided with a lead screw and a sliding block which is sheathed on the lead screw and can slide on the lead screw; the support rods are uniformly distributed by surrounding the central constraint rod, one end of each support rod is rotatably connected with the movable platform byvirtue of the spherical pair, and the other end of each support rod is movably connected with the sliding block; besides, the driving motor drives the lead screw to rotate so as to cause the sliding block to slide on the lead screw, thus the support rods drive the surface of the movable platform to incline, and the movable platform can incline in different freedom degrees as at least two support rods are adopted. When a diseased limb of a patient is placed on the pedal plate, the limb can take multi-freedom-degree rehabilitation exercises such as introversion / extroversion, adduction / abductionand dorsal flexion / plantar flexion along with inclination of the movable platform.
Owner:SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
Passive energy storage foot mechanism for power assisting exoskeletons for lower limbs
ActiveCN105616113AMeet functional requirementsEnough supportProgramme-controlled manipulatorWalking aidsHuman bodyDorsal flexion
The invention discloses a passive energy storage foot mechanism for power assisting exoskeletons for lower limbs.The passive energy storage foot mechanism comprises an ankle joint unit, a foot side face plate, a foot sole unit, a binding unit and passive spring energy storage units.The ankle joint unit is connected with the foot sole unit by the foot side face plate; the foot sole unit is of a separation type flexible bending structure and comprises a rigid heel, a rigid front sole, a bottom plate spring, inner-side plate springs, outer-side plate springs, fixing mechanisms, a deformable adhesion plate and a rubber cushion; the passive spring energy storage units include a dorsal flexion passive spring energy storage unit and a plantar flexion passive spring energy storage unit and are connected with the ankle joint unit by a spring support unit, the foot side face plate is used as a fixing base for the passive spring energy storage units, and dorsal flexion and plantar flexion energy storage effects can be respectively realized during movement.The passive energy storage foot mechanism has the advantages that foot structures of human bodies and the weights and inertia effects of the human bodies and the exoskeletons are sufficiently utilized, accordingly, energy can be passively stored by ankle joints in walking procedures, ground pedaling actions of toes can be carried out in the walking procedures, states can be automatically restored in the walking procedures, a wearer can wear the passive energy storage foot mechanism comfortably, and the passive energy storage foot mechanism is high in practicality and low in energy consumption.
Owner:SOUTHEAST UNIV +1
Active-passive combined low-power-consumption ankle joint prosthesis
InactiveCN103006357AReduce power consumptionMeet the actual requirements of sportsArtificial legsDorsal flexionBiomechanics
The invention discloses an active-passive combined low-power-consumption ankle joint prosthesis, belonging to the technical field of prosthetics and orthotics. The active-passive combined low-power-consumption ankle joint prosthesis comprises a support frame mechanism, an active driving mechanism, an ankle shaft joint mechanism, a series elastic driving mechanism, a parallel spring mechanism and an elastic foot plate mechanism, wherein the support frame mechanism is located above the elastic foot plate mechanism, and the drive part of the ankle joint prosthesis is an active-passive combined drive system formed by combining the active drive mechanism, the ankle shaft joint mechanism, the series elastic driving mechanism and the parallel spring mechanism. According to the invention, the energy storage and energy release functions of the series elastic driving mechanism and the parallel spring mechanism are utilized fully, the active driving mechanism is used for driving only in a proper period in a traveling process, that is, a motor is used for driving only in a dorsal flexion stage, so that the entire ankle joint prosthesis has the advantage of low power consumption; and in addition, the active-passive combined low-power-consumption ankle joint prosthesis is designed according to exercise bionics based on human motion biomechanical studies, can meet the actual requirements of human motion and is simple in structure.
Owner:NANJING INST OF TECH
Seven-freedom-degree upper limb rehabilitation robot based on combination drive
The invention discloses a seven-freedom-degree upper limb rehabilitation robot based on combination drive, and relates to the technical field of medical rehabilitation. The rehabilitation robot comprises three modules, i.e., a shoulder joint medial rotation / lateral rotation movement module, a shoulder joint extension / flexion and adduction / abduction and elbow joint extension / flexion and pronation / supination module and a wrist joint radial side flexion / ulnar side flexion and dorsal flexion / palmer flexion movement module, and the rehabilitation robot can achieve movement of seven freedom degrees. Under the coordination of the seven freedom degrees, the robot can simulate and achieve all types of movement of the upper limbs of a human body; the seven freedom degrees can singly achieve independent movement of each joint and also can achieve spatial motion through linkage motion of all the joints. The rehabilitation robot is designed to be more suitable for the structure of the human body, and the movement process of the rehabilitation robot is closer to the movement rule of human arms; a wrist joint part of the rehabilitation robot is driven by a steel wire rope, and a drive motor is moved backwards to be installed on a shoulder joint cantilever horizontal plate; thus, the weight of the wrist joint part is reduced, and the wrist joint part is more convenient to control and simpler and more compact in structure.
Owner:JIANGSU UNIV
Two- freedom-degree limit anisotropic flexible biomimetic ankle
ActiveCN103417314AExtended service lifeReduce concentrated stressArtificial legsDorsal flexionAngular degrees
The invention relates to a two-freedom-degree limit anisotropic flexible biomimetic ankle which comprises a connector for being connected with a prosthetic socket, a connecting rod connected to the lower end of the connector, a spring mounting bracket connected to the middle of the connecting rod, a central sphere pin pair connected to the lower end of the connecting rod, an ankle limit end cover arranged on the upper portion of the central sphere pin pair and a sphere pin pair base arranged below the central sphere pin pair. A limit cambered surface with four spring guide holes is arranged at the upper end of the ankle limit end cover, and an inner spherical surface is arranged at the lower end of the ankle limit end cover. The spring mounting bracket is supported in the limit cambered surface through four spiral compression springs installed in the four spring guide holes. An inner spherical surface is arranged at the upper end of the sphere pin pair base. The central sphere pin pair is in clearance fit with the inner spherical surface of the ankle limit end cover and the inner spherical surface of the sphere pin pair base, and a bolt pin on the side face of the central sphere pin pair is in clearance fit with a bolt pin guide groove in the ankle limit end cover and a bolt pin guide groove in the sphere pin pair base. The two-freedom-degree limit anisotropic flexible biomimetic ankle has two degrees of freedom, can perform plantar flexion, dorsal flexion, introversion and extroversion, has different angle ranges and flexibility in each direction, and enables an amputee to walk on a more complicated pavement.
Owner:PEKING UNIV
Cam type three-freedom-degree ankle rehabilitative device
InactiveCN105616110AAvoid difficultyEasy to controlChiropractic devicesDorsal flexionAnkle rehabilitation
The invention discloses a cam type three-freedom-degree ankle rehabilitative device, relates to ankle rehabilitative devices and aims at solving the technical problems that existing ankle rehabilitation robots are complex in structure, great in parallel connection cooperative control difficulty and poor in ankle rehabilitation training effect. A base of the device is fixedly connected with a first driving motor and a gear I, the gear I is in meshed transmission with a gear II and is fixedly connected with a rotating platform, the rotating platform is fixedly connected with a second driving motor and a gear III, the gear III is in meshed transmission with a gear IV and a inner ring gear, the inner ring gear is connected with a cylindrical cam, the contour face of the cylindrical cam is vertically provided with four cam jacking rods, spherical heads of the rods are hinged to a guide groove of a moving platform, and a shell fixedly connected with a box cover and the rotating platform is arranged at the periphery of the cylindrical cam. The device is used for rehabilitation training of ankles including dorsal flexion / plantar flexion, introversion / extroversion, abduction / adduction and pronation / supination and has the advantages of being simple in control principle, small in drive number and compact in structure.
Owner:ZHONGBEI UNIV
Parallel type ankle joint rehabilitation device
The invention discloses a parallel type ankle joint rehabilitation training device. The device comprises a base, a movable platform, a restraint branched chain and a driving branched chain, and the rotation of the ankle joint can be achieved in three directions such as dorsal flexion / plantar flexion, varus / valgus and intorsion / extorsion. The base comprises a base body and a support platform, the support platform is provided with four motors, and the four motors are arranged in a horizontally and high-low staggered mode; the movable platform comprises an upper movable platform and a lower movable platform, and the upper movable platform is fixedly connected with the lower movable platform through a gasket; the restraint branched chain comprises a bearing platform, a right support connecting rod and an arc connecting rod; the driving branched chain comprises a first driving branched chain, a second driving branched chain, a third driving branched chain and a fourth driving branched chain, and the four driving branched chains are the same in structure. The parallel type ankle joint rehabilitation training device not only has good movement performance, but also has a simple and compact structure.
Owner:CHONGQING UNIV OF POSTS & TELECOMM
Foot device used for wearable lower limb exoskeleton robot
InactiveCN105105897AAchieve pronation / supination movementAchieving proactive trainingInvalid friendly devicesMedial rotationExoskeleton robot
The invention discloses a foot device used for a wearable lower limb exoskeleton robot. The foot device comprises a first execution mechanism, a driving gear mechanism, a driven gear mechanism, a shank connecting rod, a ball cage type universal joint, a rotating adjusting device, a second execution mechanism, a motor fixing supporting plate, a first reset spring, an ankle joint controlling plate, a foot shoe, a round rod and second reset springs. Three-freedom-degree adjustable rotation of ankle joints is achieved, active training is achieved for ankle joints of different patients or the ankle joint of the same patient at different stages, the movement freedom degree is high, and practicability is high. The adopted ball cage type universal joint can achieve medial rotation / lateral rotation movement for the ankle joints when plantar flexions / dorsal flexions move by different angles and can also guarantee that the rotation speed of a motor and the rotation speed of the ankle joints are always kept uniform, and the arranged reset springs improve the stability of joint movement; a harmonic reducer is adopted for effectively adjusting the rotation speed of the joints and improving man-machine coupling.
Owner:WUHAN UNIV
Sitting and lying type lower limb rehabilitation device
InactiveCN104644377ASimple structureImprove structural stabilityChiropractic devicesDorsal flexionPhysical medicine and rehabilitation
The invention provides a sitting and lying type lower limb rehabilitation device, which mainly consists of a knee joint rehabilitation mechanism, an ankle joint rehabilitation mechanism, a hip joint rehabilitation mechanism, an upper body position adjusting mechanism and a movable bed frame, wherein the movable bed frame is used as a base body, the four main mechanisms are respectively used for the movement of each joint of a patient, the knee joint rehabilitation mechanism is used for completing the extending and retraction of a knee joint and a hip joint to realize the knee bending movement, the hip joint rehabilitation mechanism is used for completing the outer rotating movement of the corresponding hip joint, the ankle joint rehabilitation mechanism is used for completing the three-degree-of-freedom movement of an ankle joint, such as plantar flexion and dorsal flexion, inversion and eversion, and adduction and abduction, and the upper body position adjusting mechanism is used for completing the adjusting of different gestures of an upper body of the patient. The sitting and lying type lower limb rehabilitation device has the advantages that the six-degree-of-freedom movement of the lower limb of the single side of the patient is effectively realized, a left leg and a right leg can be independently rehabilitated and trained, and the certain popularizing value is realized.
Owner:HARBIN ENG UNIV
Exercise equipment intended for exercising legs of a person
ActiveCN102711929AChiropractic devicesMuscle exercising devicesGastrocnemius aponeurosisDorsal flexion
Owner:INNOVAID
Semi-direct-drive-driver-based lower limb rehabilitation robot and control method therefor
ActiveCN111821143AMeet Rehabilitation Training RequirementsRealize rehabilitation trainingChiropractic devicesWalking aidsThighDorsal flexion
The invention discloses a semi-direct-drive-driver-based lower limb rehabilitation robot and a control method therefor and relates to the technical field of rehabilitation robots. The robot comprisesa waist adjusting structure, two thigh adjusting structures, two shank adjusting structures and two foot bottom plates, wherein the two thigh adjusting structures, the two shank adjusting structures and the two foot bottom plates are rotatably connected to the two sides of the waist adjusting structure symmetrically and are rotatably connected sequentially from top to bottom; and a hip joint driving structure, knee joint driving structures and ankle joint driving structures are separately mounted on the waist adjusting structure, the thigh adjusting structures and the shank adjusting structures. According to the robot and the control method therefor, the robot can assist a sufferer to achieve bending and stretching of a hip joint, bending and stretching of a knee joint and plantar flexionand dorsal flexion of an ankle joint, is perfect in rehabilitation functions and can better meet rehabilitation training requirements of the sufferer on rehabilitation of a lower limb; and adaptability and independence of rehabilitation training height can be achieved by means of inputting stature information on the sufferer, selecting a mode of rehabilitation training and acquiring rehabilitationtraining parameters for the first time, so that needs of the sufferer on rehabilitation training are better adapted, and the effect of rehabilitation training is improved.
Owner:HEFEI UNIV OF TECH
Six-degree-of-freedom wearable lower limb exoskeleton rehabilitation robot
PendingCN113230098AImprove comfortImprove reliabilityChiropractic devicesWalking aidsMedial rotationDorsal flexion
The invention discloses a six-degree-of-freedom wearable lower limb exoskeleton rehabilitation robot which comprises a waist supporting mechanism, hip joint exoskeleton mechanisms, knee joint exoskeleton mechanisms and ankle joint exoskeleton mechanisms, the waist supporting mechanism is connected with the hip joint exoskeleton mechanisms, the hip joint exoskeleton mechanisms are connected with the knee joint exoskeleton mechanisms, and the ankle joint exoskeleton mechanisms are connected with the knee joint exoskeleton mechanisms. The knee joint exoskeleton mechanisms are connected with the ankle joint exoskeleton mechanisms. According to the invention, three-degree-of-freedom movement of hip joint anteflexion / backward extension, adduction / abduction and internal rotation / external rotation, single-degree-of-freedom movement of knee joint flexion / extension and two-degree-of-freedom movement of ankle joint dorsal flexion / plantar flexion and introversion / extroversion are realized. Movement of the hip joint and the knee joint is driven by a motor, the knee joint exoskeleton mechanisms adopt bionic human knee joint design, and elastic element design is added to the ankle joint exoskeleton mechanisms. The six-degree-of-freedom wearable lower limb exoskeleton rehabilitation robot is well attached to joints of a patient, comfortable rehabilitation training of the patient is facilitated, and the rehabilitation training effect is improved.
Owner:CHANGCHUN UNIV OF TECH
Hydraulic bionic ankle joint
The invention relates to a hydraulic bionic ankle joint. The bionic ankle joint is characterized by comprising: a fixed seat of which the lower end can be connected to a carbon fiber energy storage foot; a hydraulic buffer mechanism which is arranged on the fixed seat in a press fitting mode, wherein a rotating shaft of the hydraulic buffer mechanism is parallel to a coronary shaft, and the buffermechanism is used for providing damping force during plantar flexion movement and dorsal flexion movement of the bionic ankle joint; and a square pyramid frustum structural part of which the upper end can be connected to the artificial limb receiving cavity and the lower end is connected to a rotating shaft of the hydraulic buffer mechanism, and the square pyramid frustum structural part can rotate and swing forwards and backwards around the rotating shaft of the hydraulic buffer mechanism. The invention provides the hydraulic bionic ankle joint which integrates hydraulic damping and self-resetting functions, has the characteristics of light weight, small size and no noise, makes the ankle joint close to a real ankle, and provides convenient and excellent artificial limbs for more disabled people.
Owner:北京工道风行智能技术有限公司
Two-freedom-degree limiting exoskeleton ankle joint and application thereof
The invention discloses a two-freedom-degree limiting exoskeleton ankle joint and the application thereof. The lower end of a calf rod is fixedly connected with the upper end of an ankle joint upper component. The ankle joint upper component is hinged to an ankle joint lower component in an approximate spherical mode through a switch-over ball. The lower end of the ankle joint lower component is fixedly connected to a sole. The two sides of the switch-over ball are both provided with circular-arc-shaped grooves which are smaller than 360 degrees and larger than 180 degrees. The grooving directions of the circular-arc-shaped grooves in the two sides are perpendicular and orthogonal to each other. The lower end of the ankle joint upper component and the upper end of the ankle joint lower component are each a plier body with a fixed circular-arc ring structure, and the plier bodies are embedded into the circular-arc-shaped grooves in an opening and closing mode. According to the two-freedom-degree limiting exoskeleton ankle joint and the application thereof, plantar flexion, dorsal flexion, introversion and extroversion movements of the ankle joint in the same center are achieved only through the extremely simple structure and convenient matching, and each freedom degree is limited by different angles.
Owner:ZHEJIANG UNIV
Wearable ankle joint rehabilitation training machine
ActiveCN106333826AAssist in postoperative rehabilitation trainingAssisting in corrective treatmentChiropractic devicesDorsal flexionCoil spring
A wearable ankle joint rehabilitation training machine comprises a shank sleeve, a coil spring chamber, a coil spring module, a curve connecting rod, a straight connecting rod and a foot sleeve, wherein the coil spring module consists of a coil spring and a coil spring shaft. The wearable ankle joint rehabilitation training machine provided by the invention is a booster which can assist the ankle joint in doing dorsal flexion motion and plantar flexion motion by utilizing the elastic potential energy of the coil spring, and is suitable for patients whose ankle joints have certain action capability. A forefoot part, on which the foot sleeve is, can be driven to lift by a certain torque generated by the elastic potential energy of the coil spring, so that the dorsal flexion motion and the plantar flexion motion of the ankle joint are realized.
Owner:UNIV OF SHANGHAI FOR SCI & TECH
Parallel type ankle joint recovery device
InactiveCN105943307AVarious rehabilitation training modesAvoid harmChiropractic devicesRotational axisDorsal flexion
The invention discloses a parallel type ankle joint recovery device. A lower rotary mechanism is arranged on a base through a base plate bearing block, a middle lifting device is arranged in the middle of the lower rotary mechanism, a movable platform is hinged to the top end of the middle lifting device, first motion branch chains are hinged to the left side and right side of the movable platform respectively, second motion branch chains are hinged to the bottom surfaces of the front side and back side of the movable platform respectively, two third motion branch chains are hinged to the front side wall of the middle lifting device, and two third motion branch chains are hinged to the rear side wall of the middle lifting device; the other end of each first motion branch chain is hinged to a pulley rope mechanism which is located on the same side with the first motion branch chain and fixed to the edge of the base, the second motion branch chains and the third motion branch chains on the same side are located on the same vertical plane, the other ends of the second motion branch chains and the third motion branch chains are hinged to connecting frames located on corresponding sides, and the two sides of each connecting frame are hinged to the lower rotary mechanism through rotary shafts. The device can be matched with complicated motions of the ankle joint, and motions of three freedom degrees including dorsal flexion / plantar flexion, inward turning / outward turning and foot lifting can be realized.
Owner:TIANJIN UNIV
Front dynamic ankle rehabilitation orthotics device
ActiveCN103767815AEasy disposalReduce dependenceChiropractic devicesDorsal flexionAnkle rehabilitation
The invention provides a front dynamic ankle rehabilitation orthotics device. The front dynamic ankle rehabilitation orthotics device comprises a wearing module, a brushless servo direct current motor, a motor driver, an ARM (advanced RISC (reduced instruction set computer) machine) controller, a battery and a composite transmission module, wherein the wearing module is fixed on a shank of a human body through a nylon adhesive fastener; a main shank support is correspondingly attached to the shank of the human body; a foot handle and a foot support are correspondingly attached to an ankle of the human body; the brushless servo direct current motor realizes the functions of reducing rotating speed and improving torque by improving the speed reducing ratio of harmonic assemblies in a harmonic speed-reducing transmission unit; the harmonic speed-reducing transmission unit is connected with a bevel gear transmission unit; a transmission reversing effect is achieved through a bevel gear, damping and buffering effects are achieved through a trapezoidal tooth synchronous belt, and power is transmitted to a simulative ankle joint position finally, so that the plantar flexion and dorsal flexion movement of an ankle joint can be realized; by arranging a limiting switch at the simulative ankle joint position, the ankle joint is prevented from moving at an over-large angle. The front dynamic ankle rehabilitation orthotics device can be used for assisting a patient suffering from an ankle injury in functional rehabilitative training, and is high in portability and high in control accuracy.
Owner:威海海鹤医疗科技有限公司
Exercise equipment intended for exercising legs of a person
The present invention relates to an exercise apparatus for exercising muscle groups in a person's legs by stretching and / or retraction, which exercise apparatus comprises at least a first frame and at least a first foot platform which foot platform is rotatable fastened to a hearing, which hearing is placed in relation to the person's foot for exercise at least plantar flexion and / or dorsal flexion, which exercise apparatus further includes a leg support. Hereby can be achieved exercising of the muscle groups by stretching and / or retraction (quadriceps lemons, biceps femoris, semitendinosus, semimembranosus, gastrocnememius, tibialis posterior, tibialis anterior, peroneus longus, peroneus brevis and soleus) in the legs of a person, and the muscles (soleus, gastrocnemius, tibialis posterior, peroneus brevis, peroneus longus, biceps femoris, semitendinosus, semimembranosus) at the back side of the legs.
Owner:INNOVAID
Passive exoskeleton robot for enhancing human body load transportation capacity
ActiveCN111906752AReduce loadSo as not to damageProgramme-controlled manipulatorAgainst vector-borne diseasesHuman bodyThigh
The invention discloses a passive exoskeleton robot for enhancing human body load transportation capacity. The passive exoskeleton robot comprises a waist supporting plate assembly, thigh assemblies,shank assemblies, shoe sole assemblies and pull belts, wherein the waist supporting plate assembly is fixed to a waist of a human body, the thigh assemblies are fixedly connected with the waist supporting plate assembly upwards from the outer sides of hip joints, and meanwhile the thigh assemblies turn downwards towards the front sides of thighs and are rotationally connected with the shank assemblies at knee joints; the shank assembles turn towards the outer sides of shanks from the front sides of the shanks and extend downwards to be rotationally connected with the shoe sole assembles; the thigh assemblies can be matched with the flexion and extension, adduction and abduction and rotational degree of freedom of the hip joints; the shank assembles can be matched with the plantar flexion,dorsal flexion and varus and valgus degree of freedom of ankle joints; and the pull belts are located on the front face of the human body, and the two ends of the pull belts are fixedly connected withthe waist supporting plate assembly and the thigh assembles. According to the robot, interaction force between an exoskeleton and the human body can be balanced, driving force needed by the human body is reduced, and assistance is provided for thigh swing.
Owner:BEIJING INSTITUTE OF TECHNOLOGYGY
Channel selection method for surface electromyography signal based on LDA algorithm
InactiveCN110537913AImprove recognition rateDiagnostic signal processingCharacter and pattern recognitionPattern recognitionDorsal flexion
The invention discloses a channel selection method for surface electromyography signal based on an LDA algorithm. The method comprises the steps of selecting different combinations from six alternative electromyographic signal channels including tibialis anterior muscle, peroneus longus and soleus, outer gastrocnemius muscle, inner gastrocnemius muscle of medial leg and inner gastrocnemius muscleof posterior leg, for quantitative electromyographic signal channel combinations; calculating the average recognition rate of five action patterns of ankle including relaxation, dorsal flexion, plantar flexion, eversion and enstrophe, for each channel combination by using an accuracy calculation algorithm based on the LDA algorithm; and obtaining an optimal channel combination through comparing the average recognition rates of all the channel combination. The optimal electromyographic signal channel combination is determined through recognition rate calculation based on the LDA algorithm. Compared to a method of determining a channel combination by experience, the channel selection method disclosed by the invention is more scientific and accurate, and can recognize the five action patternsof ankle with a high recognition rate by using less electromyographic signal channels.
Owner:SOUTH CHINA UNIV OF TECH
Three-degree-of-freedom ankle joint rehabilitation device
ActiveCN111588588ACompact structureEasy to installChiropractic devicesPhysical medicine and rehabilitationDorsal flexion
The invention provides a three-degree-of-freedom ankle joint rehabilitation device. According to three motion forms of an ankle joint, the ankle joint can be divided into a toe flexion and dorsal flexion degree of freedom, an adduction and abduction degree of freedom and an intorsion and extorsion degree of freedom. The toe flexion and dorsal flexion and adduction and abduction are active degreesof freedom, a driving device is needed, and intorsion and extorsion are passive degrees of freedom, so that the ankle joint structure of a person is fitted, and the ankle joint of the person is subjected to rehabilitation training in cooperation with the first two degrees of freedom. The rehabilitation device comprises a shank plate, a U-shaped supporting frame, a toe flexion and dorsal flexion driving device, an arc-shaped moving block, two sets of arc-shaped guide rails, two sets of rolling wheels, a set of arc-shaped racks, a gear, an adduction and abduction driving motor, a sole force sensor, a sensor connecting plate, an antifriction base plate, a sole plate, an annular pressing plate and an end cover. Three-degree-of-freedom movement of the ankle joint can be achieved, and the rehabilitation device has the advantages of being compact in structure, small in size, wide in application range and the like and can help a spinal cord injury patient to conduct active rehabilitation training on the ankle joint.
Owner:YANSHAN UNIV
Bionic knee-ankle joint power-assisted exoskeleton device
PendingCN114102562ASimple structureEnsure safetyProgramme-controlled manipulatorJointsDorsal flexionEngineering
The invention discloses a bionic knee-ankle joint power-assisted exoskeleton device which comprises a knee joint movement module, a shank module and an ankle joint movement module, one end of the shank module is connected with the knee joint movement module, and the other end of the shank module is connected with the ankle joint movement module. According to the invention, knee joint flexion / extension single-degree-of-freedom movement and ankle joint dorsal flexion / plantar flexion and introversion / extroversion two-degree-of-freedom movement are realized, and human body walking is assisted, so that the assisting effect is achieved. Knee joint movement is driven by a motor, the knee joint movement module adopts a human knee joint bionic design, and the shank module is provided with a height adjusting design, so that the requirements of different people can be met. The bionic knee-ankle joint assisting exoskeleton device has the advantages of being simple in structure, easy to wear and high in crowd adaptability.
Owner:CHANGCHUN UNIV OF TECH
Robot for rehabilitation training of ankle joint
Owner:SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
Ankle rehabilitation robot
InactiveCN105965484ASimple structureHigh strengthProgramme-controlled manipulatorDorsal flexionAnkle rehabilitation
The invention discloses an ankle rehabilitation robot. The ankle rehabilitation robot comprises a base and a workbench arranged above the base. Three connecting rod mechanisms which are of the same structures are arranged between the workbench and the base in parallel, and include the first connecting rod mechanism, the second connecting rod mechanism and the third connecting rod mechanism, and back-and-forth overturning, left-and-right overturning and rotating in the horizontal plane of the workbench can be achieved through movement of the connecting rod mechanisms. According to the robot, ankles can be subjected to dorsal flexion training, plantar flexion training, introversion training, eversion training, inward rotation training and outward rotation training through the workbench, movement of multiple freedom degrees is achieved, and the use requirement of ankle rehabilitation training is fully met; meanwhile, the three connecting rod mechanisms are simple in structure, are connected in parallel, and are good in strength, high in reliability and compact in size.
Owner:佛山衡生医疗自动化有限公司
Orthopedic device, having foot part, lower-leg part and thigh part
The invention relates to an orthopedic device, comprising a foot part (10), a lower-leg part (20) and a thigh part (30). The foot part (10) is connected to the lower-leg part (20) for pivoting about afirst pivot axis (12) by means of an ankle joint (15). The lower-leg part (20) is connected to the thigh part (30) for pivoting about a second pivot axis (23) by means of a knee joint (25). The footpart (10) is connected to the thigh part (30) by means of a force-transmitting apparatus (40). The force-transmitting apparatus (40) causes a dorsal flexion of the foot part (10) in the event of a knee flexion over a first knee flexion angle range and causes a plantar flexion of the foot part (10) in the event of further knee flexion after a knee flexion limit angle ([alpha]Lim) has been exceeded.
Owner:OTTOBOCK SE & CO KGAA
Ankle rehabilitation robot
InactiveCN105965484BSimple structureHigh strengthProgramme-controlled manipulatorDorsal flexionAnkle rehabilitation
The invention discloses an ankle rehabilitation robot. The ankle rehabilitation robot comprises a base and a workbench arranged above the base. Three connecting rod mechanisms which are of the same structures are arranged between the workbench and the base in parallel, and include the first connecting rod mechanism, the second connecting rod mechanism and the third connecting rod mechanism, and back-and-forth overturning, left-and-right overturning and rotating in the horizontal plane of the workbench can be achieved through movement of the connecting rod mechanisms. According to the robot, ankles can be subjected to dorsal flexion training, plantar flexion training, introversion training, eversion training, inward rotation training and outward rotation training through the workbench, movement of multiple freedom degrees is achieved, and the use requirement of ankle rehabilitation training is fully met; meanwhile, the three connecting rod mechanisms are simple in structure, are connected in parallel, and are good in strength, high in reliability and compact in size.
Owner:佛山衡生医疗自动化有限公司
Compact active artificial limb ankle joint
The invention discloses a compact type active artificial limb ankle joint, which comprises a bracket, a leg connecting piece, a front end cover, a gear assembly, a speed reducer, a motor, an artificial foot, a rotating shaft, an artificial foot connecting piece, two shaft supporting pieces, two gear and gear rack assemblies, a lead screw assembly and two linear guide rail assemblies. According to the invention, the motor reducer structure is a power source, the artificial foot is driven by the movement of the gear and the gear rack to realize toe flexion and dorsal flexion movement of the ankle joint, the space utilization rate is increased by innovatively applying the gear and gear rack structure, the structure is compact, the size is small, and the ankle joint has enough torque when pedaling the ground, so that the whole artificial ankle joint has the advantages of large torque and light weight; and the rotating center of the ankle joint is low and is close to the rotating center of the ankle joint of a healthy person in height, so that the walking requirement of the person can be better met, and the gait is more coordinated.
Owner:JILIN UNIV
Twisted-pair-driving-based tensioned flexible ankle joint wearing boosting equipment
ActiveCN112370314ARealize energy storage functionAvoid joint damageWalking aidsFoot regionDorsal flexion
The invention provides twisted-pair-driving-based tensioned flexible ankle joint wearing boosting equipment. The boosting equipment comprises a foot region supporting plate, a flexible joint made froma soft material and a rigid element, an ankle wearing assembly connected with the flexible joint and a twisted line driving part for driving an ankle joint to move, wherein the flexible joint is composed of a limiting rod fully encapsulated in the soft material and a rigid connecting member fully encapsulated in the soft material, and the twisted line driving part is composed of a motor, a gear transmission system and a twisted pair. According to the ankle joint boosting mechanism, two fine lines are driven to twist mutually through the motor so as to form a dual-spiral structure through pre-twisting, muscle-similar stretching and tensioning motions are achieved through tightness of twisting, and then, a wearer is assisted to walk. According to the boosting equipment, free motions in dorsal flexion, plantar flexion, intorsion and extorsion directions can be achieved through the purpose-made flexible joint, twisted-pair structures at two sides are driven by one motor to simultaneouslyachieve double-sided stretching and tensioning functions, and a safe protecting function for the ankle joint can be provided.
Owner:UNIV OF ELECTRONIC SCI & TECH OF CHINA
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