53 results about "Dorsal flexion" patented technology

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.