CN115282000B - Six-degree-of-freedom light high-compatibility ankle rehabilitation exoskeleton - Google Patents
Six-degree-of-freedom light high-compatibility ankle rehabilitation exoskeletonInfo
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- CN115282000B CN115282000B CN202210896966.2A CN202210896966A CN115282000B CN 115282000 B CN115282000 B CN 115282000B CN 202210896966 A CN202210896966 A CN 202210896966A CN 115282000 B CN115282000 B CN 115282000B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
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- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
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Abstract
本发明公开了一种六自由度轻型高兼容性足踝康复外骨骼，包括踝胫连杆模块、踝关节轴模块、前足固定模块以及后足固定模块；踝胫连杆模块用于与小腿并行固定，并提供小腿后侧处的助力锚点；前足固定模块和后足固定模块分别用于与穿戴者的足部前端和后端固定，并于足跟处提供一个末端助力锚点；踝关节弹性元件与用户鞋子直接接触，产生六自由度柔性交互力。传统的足踝外骨骼局限于趾屈、背屈运动，而本发明的弹性元件设计可在安全限度内适配足踝的任意运动——内翻、外翻，内收、外展，趾屈、背屈。本发明可有效增加足踝的活动度，大幅提升人机相容性，解决现有踝关节外骨骼机器人因本体构型繁重、自由度配置单一而无法满足患者日常功能需求的难题。
This invention discloses a six-DOF lightweight, highly compatible foot and ankle rehabilitation exoskeleton, comprising an ankle-shin linkage module, an ankle joint axis module, a forefoot fixation module, and a hindfoot fixation module. The ankle-shin linkage module is used for parallel fixation with the lower leg and provides an assistive anchor point on the posterior side of the lower leg. The forefoot and hindfoot fixation modules are used for fixation with the front and rear ends of the wearer's foot, respectively, and provide an end-effectoral assistive anchor point at the heel. The ankle joint elastic element directly contacts the user's shoe, generating six-DOF flexible interactive forces. Traditional foot and ankle exoskeletons are limited to toe flexion and dorsiflexion movements, while the elastic element design of this invention can adapt to any movement of the foot and ankle within safe limits—inversion, eversion, adduction, abduction, toe flexion, and dorsiflexion. This invention can effectively increase the range of motion of the foot and ankle, significantly improve human-machine compatibility, and solve the problem that existing ankle joint exoskeleton robots cannot meet the daily functional needs of patients due to their heavy body configuration and limited degree of freedom configuration.
Description
Technical Field
The invention belongs to the fields of exoskeleton technology, medical rehabilitation and the like, in particular to a six-degree-of-freedom light high-compatibility ankle rehabilitation exoskeleton which is mainly used for assisting movement of human ankles, rehabilitation of movements and the like.
Background
The ankle joint is used as a joint for transferring the gravity center in walking of a human body, and can effectively help a patient with foot drop to reduce triceps spasm of the lower leg by assisting the ankle joint, so that the rehabilitation effect is achieved. The ankle rehabilitation exoskeleton is designed according to the structural characteristics of an ankle joint, combines the human bionics principle, combines the robot technology with clinical rehabilitation medicine, can exert the advantage that a robot is good at executing repeated heavy work, can realize accurate, automatic and intelligent rehabilitation training, and further improves the clinical rehabilitation effect. In the rehabilitation field, the specific mechanical structure of the ankle exoskeleton is combined with different control methods, so that rehabilitation training can be quantified and standardized, active and passive lower limb motor function assistance can be provided for patients with lower limb dysfunction, the remodeling of damaged nerve functions of the patients is promoted, and the quantitative evaluation of the rehabilitation process and the feedback function of the rehabilitation progress are realized.
However, currently, the ankle exoskeleton configuration basically adopts an anthropomorphic rigid frame, which is difficult to meet the daily functional requirements of a wearer, and particularly the hemiplegic gait specific to patients with foot drop. On the one hand, the configuration of the ankle rehabilitation exoskeleton ankle joint degree of freedom enables the ankle activities of a wearer to be unable to be effectively released, the wearing walking obstacle of the patient is increased, and the falling risk is increased. On the other hand, the cumbersome design of the model makes the wearing of the patient very inconvenient, slows down the functional reconstruction of the damaged nerve-muscle system, and inhibits the enthusiasm of rehabilitation training and active participation consciousness of the patient. Accordingly, there is a great need for a lightweight high-compatibility ankle exoskeleton device that solves the above problems.
Disclosure of Invention
Aiming at the problems in the prior art, the application provides the six-freedom-degree light high-compatibility ankle rehabilitation exoskeleton, which can increase the activity of the ankle and meet the needs of different crowds on the premise of ensuring that the normal gait function needs of a wearer are not influenced.
The technical scheme of the invention is as follows:
the six-degree-of-freedom light high-compatibility ankle rehabilitation exoskeleton comprises an ankle shank connecting rod module 1, an ankle joint shaft module 2, a forefoot fixing module 3 and a hindfoot fixing module 4;
The ankle shank connecting rod module 1 is used for fixing an exoskeleton on a calf and providing an anchor point for fixing a flexible transmission rope at the rear side of the calf;
The ankle shin connecting rod module 1 is connected with the ankle joint shaft module 2 through a ball bearing, and the ankle shin connecting rod module and the ankle joint shaft module can do circular motion around the rotating shaft of the ball bearing;
The ankle joint shaft module 2 is provided with a six-degree-of-freedom ankle joint elastic element 202 which is suitable for the movement of the ankle joint, so that the ankle joint can perform small-range varus, valgus, adduction, abduction, toe flexion and dorsiflexion movements;
the function of the forefoot fixing module 3 is to fix the front end of the foot, on which a six-degree-of-freedom toe joint elastic element 304 is arranged for adapting to the movements of the toe joint;
The function of the hindfoot fixing module 4 is to fix the rear end of the foot, provide a tail end anchor point for a flexible driving rope and be used for assisting control of plantar flexion movement of the ankle joint, and assist the ankle joint to perform plantar flexion movement by adopting a flexible control technology based on force feedback, namely, when the ankle joint performs plantar flexion movement, torque with proper magnitude is actively provided, and the torque is transmitted to the tail end anchor point of the hindfoot fixing module 4 through the flexible driving rope to provide auxiliary torque for the ankle joint.
Further, the ankle shank link module 1 comprises 2 calf shank bars 101, 2 ankle shank coupling elements 102, 1 calf transverse link 103;
The shank rod 101 is provided with a shank rod lower end threaded through hole 1011 and a shank rod central region threaded through hole 1012;
The ankle shank coupling element 102 is provided with an ankle shank coupling element upper end threaded through hole 1021 and an ankle shank coupling element lower end bearing through hole 1022, wherein the ankle shank coupling element upper end threaded through hole 1021 is aligned with the shank rod piece lower end threaded through hole 1011 and is fixedly connected through a screw;
The shape of the shank transverse connecting rod 103 is an arc, a shank transverse connecting rod center semicircular through hole 1032 is arranged in the center of the arc and used for fixing a flexible transmission rope, shank transverse connecting rod top threaded through holes 1031 are arranged at two ends of the arc, and shank transverse connecting rod top threaded through holes 1031 at two ends of the arc are aligned with shank rod center area threaded through holes 1012 of the 2 shank rod pieces 101 respectively and are fixed through screw connection, so that the 2 shank rod pieces 101 and the 1 shank transverse connecting rod 103 are connected into a whole.
Further, the shank bar 101 is provided with four straight slots 1013 and two square holes 1014 for reducing the mass of the bar;
The shank bar 101 is made of carbon fiber plate.
Further, the ankle shaft module 2 includes 1 ankle shaft connecting plate 201 and 1 ankle elastic member 202;
The upper end, the front end and the rear end of the ankle joint shaft connecting plate 201 are respectively provided with a group of through holes, namely an ankle joint shaft connecting plate upper end bearing through hole 2011, an ankle joint shaft connecting plate front end threaded through hole 2012 and an ankle joint shaft connecting plate rear end pin hole 2013 which are respectively used for connecting an ankle shin connecting rod module 1, a forefoot fixing module 3 and a hindfoot fixing module 4;
the total number of threaded through holes 2012 at the front end of the ankle joint shaft connecting plate is 3;
2 pin holes 2013 at the rear end of the ankle joint shaft connecting plate;
the bearing through hole 2011 at the upper end of the ankle joint shaft connecting plate is connected with the bearing through hole 1022 at the lower end of the ankle joint shank coupling element through a ball bearing, so that 2 ankle joint shaft modules 2 and 1 ankle joint shank connecting rod module 1 are connected into a whole;
One side of the ankle elastic member 202 is fixedly coupled to the medial center area of the ankle shaft connecting plate 201 and is in contact with the ankle.
Further, the ankle elastic member 202 includes a plurality of individual elastic struts 2021 arrayed in the sagittal plane inner circumference, and the struts are connected by parallel elastic struts 2022.
Further, the number of the independent elastic columns 2021 is 15;
The independent elastic prop 2021 consists of a flexible spherical thin beam joint with the same size at the top and the bottom and a flexible column long beam at the middle, wherein strain gauges are arranged at two ends of the column long beam and used for assisting analysis of the exoskeleton of the ankle.
Further, the forefoot fixing module 3 includes 2 forefoot parallel bars 301, 1 toe fixing bar 302, 1 instep fixing bar 303, and 1 toe joint elastic element 304;
The front end of the front foot parallel rod 301 is provided with 1 pin hole, namely a front foot parallel rod front end pin hole 3012, and the rear end is provided with 3 threaded through holes, namely a front foot parallel rod rear end threaded through hole 3011, and the 3 front foot parallel rod rear end threaded through holes 3011 are aligned with the front end threaded through holes 2012 of the 3 ankle joint shaft connecting plates and are fixedly connected through screws;
The toe fixing rod 302 is a straight rod, and two ends of the straight rod are respectively provided with 2 pin holes, namely a toe fixing rod pin hole 3021 and a toe fixing rod lower pin hole 3022;
The instep fixing rod 303 is in a circular arc shape, and two ends of the circular arc are respectively provided with 1 pin hole, namely an instep fixing rod pin hole 3031;
The toe joint elastic element 304 consists of a flexible spherical thin beam joint with the same size at the top and the bottom and a flexible column long beam at the middle, and strain gauges are arranged at two ends of the column long beam and used for assisting analysis of the exoskeleton of the ankle;
The toe fixation rod pin hole 3031 is aligned with the toe fixation rod lower pin hole 3022 and is fixed by a pin, so that the toe fixation rod 302 and the instep fixation rod 303 form an annular structure together to provide a fixation site for the front end of the foot;
The front pin holes 3012 of the front parallel rods of the 2 front parallel rods 301 are aligned with the pin holes 3021 of the toe fixing rods at both ends of the toe fixing rod 302, respectively, and are fixed by pins, so that the 2 front parallel rods 301 are connected with the 1 toe fixing rod 302 into a whole;
One side of the toe joint elastic element 304 is fixedly connected with the inner central area of the front foot parallel rod 301, and the other side is directly contacted with the phalanges of the wearer, so as to adapt to the movement range of the toe joint;
When the wearer wears, the elastic toe joint element 304 is in direct contact with the phalanges of the wearer, and the six-degree-of-freedom elastic design allows the toe joint of the wearer to perform small-range varus, valgus, adduction, abduction, dorsiflexion movements within the safety limit, so that the effect of adapting to free movement of the ankle of the wearer is not limited.
Further, the hindfoot immobilization module 4 includes 2 hindfoot parallel bars 401 and 1 heel immobilization bar 402;
the front end of the rear parallel rod piece 401 is provided with 2 pin holes, namely a pin hole 4011 at the front end of the rear parallel rod piece, and the rear end is also provided with 2 pin holes, namely a pin hole 4012 at the rear end of the rear parallel rod piece;
the front pin holes 4011 of the rear parallel rods are connected with the 2 pin holes 2013 at the rear end of the ankle joint shaft connecting plate 301 through bolts;
The heel fixing rod piece 402 is provided with 2 pin holes at two ends respectively, namely a heel fixing rod piece pin hole 4021, and is provided with 1 round through hole 4022 in the middle, which is the terminal fixing anchor point of the flexible transmission rope;
the heel fixing rod pin holes 4021 at both ends of the heel fixing rod 402 are aligned with the rear end pin holes 4012 of the rear foot parallel rods, respectively, and are fixed by bolts such that the 2 rear foot parallel rods 401 are integrally connected with the 1 heel fixing rod 402.
Further, the flexible rope is installed as follows:
The flexible cord passes through the semicircular through hole 1032 in the middle of the lower leg transverse link 103 from top to bottom and then descends to be fixedly connected with the circular through hole 4022 in the middle of the heel fixing rod 402.
Further, the wearing method is as follows:
s1, aligning the ankle joint elastic element 202 with the rotation axis of the ankle joint, and enabling the shank rod piece 101 to be parallel to the shank;
S2, the front end of the foot is fixed in an annular structure formed by the toe fixing rod piece 302 and the instep fixing rod piece 303;
s3, the high-elasticity flexible binding belt passes through the straight slot 1013 and the square hole 1014 of the shank rod 101 to fix the shank rod 101 on the shank.
The beneficial technical effects of the invention are as follows:
(1) The invention designs the elastic element capable of realizing six degrees of freedom, so that three degrees of rotational freedom and three degrees of translational freedom of the ankle joint can be realized, thereby improving the comfort and safety of the wearable robot and reducing the limitation on the natural motion of the ankle joint. This effect will be more pronounced especially for patients with mild foot drop;
(2) Under the condition that the supporting performance of the ankle shank connecting rod module and the forefoot fixing module is not changed, topology optimization and weight reduction are carried out on the redundant material part by a variable density method taking the structural weight as an optimization target, so that the lightweight configuration design of the ankle exoskeleton design is realized, and the influence of wearing the ankle exoskeleton on the normal gait of a human body can be reduced;
(3) The heel fixing rod piece and the toe fixing rod piece can adjust the included angle of the fixing rod piece according to the foot length of a wearer, so that the heel fixing rod piece and the toe fixing rod piece can be coupled with shoes of different sizes, and the heel fixing rod piece and the toe fixing rod piece have strong applicability and compatibility;
(4) The six-degree-of-freedom light high-compatibility ankle rehabilitation exoskeleton, which is related to the invention, can be driven by a flexible rope to provide the wearer with the soles Qu Liju according to the needs for control, wherein the flexible rope is fixed through anchor points at the heel and the rear side of the shank of the exoskeleton, accords with the flexible driving principle of a biological structure, and theoretically, the design maximizes the energy utilization rate.
In summary, the six-degree-of-freedom light high-compatibility ankle rehabilitation exoskeleton disclosed by the invention is light in modeling design and completely adaptive to ankle joint freedom degree configuration and meets the ankle movement of a wearer on the premise of not affecting the normal gait of the wearer, and has the good performances of comfort and convenience in wearing, expanding the application range and freeing the ankle to promote the man-machine compliance performance.
Drawings
FIG. 1 is a schematic diagram of an overall structure constructed in accordance with a preferred embodiment of the invention;
fig. 2 is an exploded view of an ankle shank link module constructed in accordance with a preferred embodiment of the present invention;
FIG. 3 is a schematic view of an ankle joint shaft module constructed in accordance with a preferred embodiment of the present invention;
FIG. 4 is a schematic view of an ankle resilient constructed in accordance with a preferred embodiment of the invention;
FIG. 5 is a schematic illustration of a six degree of freedom resilient element adapted for ankle joint movement constructed in accordance with a preferred embodiment of the invention;
fig. 6 is an exploded view of a forefoot fixation module and an adapter toe joint movement component constructed in accordance with a preferred embodiment of the present invention.
Figure 7 is an exploded schematic view of a hindfoot immobilization module constructed in accordance with a preferred embodiment of the present invention.
The corresponding relation between the component names and the figure numbers is 1-ankle shank connecting rod module, 101-shank rod, 1011-shank rod lower end threaded through hole, 1012-shank rod central area threaded through hole, 1013-straight notch, 1014-square hole, 102-ankle shank coupling element, 1021-ankle shank coupling element upper end threaded through hole, 1022-ankle shank coupling element lower end bearing through hole, 103-shank transverse connecting rod, 1031-shank transverse connecting rod left and right side threaded through hole, 1032-shank transverse connecting rod center semicircular through hole, 2-ankle joint shaft module, 201-ankle joint shaft connecting plate, 2011-ankle joint shaft connecting plate upper end bearing through hole, 2012-shank shaft connecting plate front end threaded through hole, 2013-ankle joint shaft connecting plate rear end pin hole, 202-ankle joint elastic element, 2021-independent elastic support, 2022-parallel elastic support, 3-forefoot fixing module, 301-forefoot parallel rod, 3011-forefoot parallel rod rear end threaded through hole, 3012-forefoot parallel rod front pin hole, 302-shank parallel pin rod rear end pin hole, 402-rear pin hole, 402-shank parallel pin hole, 401-shank pin hole, 401-ankle joint shaft connecting plate rear end pin hole, 202-ankle joint elastic support pin hole, 2021-parallel pin hole, 2022-parallel pin hole.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be noted that the described embodiments are only some embodiments of the invention, and not all embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. It is apparent that all other embodiments obtained by those skilled in the art without making creative efforts are within the protection scope of the present invention based on the embodiments in the present invention.
As shown in FIG. 1, the present invention mainly comprises four modules, namely an ankle shank link module 1, an ankle joint shaft module 2, a forefoot fixing module 3 and a hindfoot fixing module 4.
As shown in fig. 2, the ankle shank link module 1 comprises 2 shank bars 101, 2 ankle shank coupling elements 102, 1 shank transverse link 103, which function to secure the exoskeleton to the end of the wearer's limb and to provide an anchor point for securing the bowden cable on the rear side of the calf.
The shank bar 101 is provided with a shank bar lower end threaded through hole 1011 and a shank bar central region threaded through hole 1012, and in order to lighten the overall mass, the shank bar 101 is made of carbon fiber plate material and is provided with a straight slot 1013 and a square hole 1014.
The ankle shank coupling element 102 is provided with an ankle shank coupling element upper end threaded through hole 1021 and an ankle shank coupling element lower end bearing through hole 1022, wherein the ankle shank coupling element upper end threaded through hole 1021 is aligned with the shank member lower end threaded through hole 1011 and is fixedly connected by a screw.
The shape of the shank transverse link 103 is an arc, a shank transverse link center semicircular through hole 1032 is formed in the center of the arc and used for fixing a Bowden wire, shank transverse link top threaded through holes 1031 are formed in two ends of the arc, and the shank transverse link top threaded through holes 1031 at two ends of the arc are aligned with shank rod center region threaded through holes 1012 of the 2 shank rods 101 respectively and are fixed through screw connection, so that the 2 shank rods 101 and the 1 shank transverse link 103 are connected into a whole.
As shown in fig. 3, the ankle joint shaft module 2 includes 1 ankle joint shaft connecting plate 201 and 1 ankle joint elastic member 202.
The upper end, the front end and the rear end of the ankle shaft connecting plate 201 are respectively provided with a group of through holes, namely an ankle shaft connecting plate upper end bearing through hole 2011, an ankle shaft connecting plate front end threaded through hole 2012 and an ankle shaft connecting plate rear end pin hole 2013, which are respectively used for connecting an ankle shin connecting rod module 1, a forefoot fixing module 3 and a hindfoot fixing module 4.
The total number of threaded through holes 2012 at the front end of the ankle shaft connecting plate is 3, and the total number of pin holes 2013 at the rear end of the ankle shaft connecting plate is 2.
The ankle joint shaft connecting plate upper end bearing through hole 2011 is connected with the ankle shank coupling element lower end bearing through hole 1022 through a ball bearing, so that 2 ankle joint shaft modules 2 and 1 ankle shank connecting rod module 1 are connected into a whole, the ankle joint shaft modules 2 and the ankle shank connecting rod module 1 can do circular motion around the rotation axis of the ball bearing, the ankle joint shaft connecting plate 201 is provided with a limiting mechanism, when the plantar flexion angle and the dorsiflexion angle are overlarge, the rotation freedom degree is limited, and the maximum angle range is smaller than the limit angle of the plantar dorsiflexion motion of the human ankle joint, thereby ensuring the safety of the exoskeleton.
One side of the ankle elastic member 202 is fixedly coupled to the medial center area of the ankle shaft connecting plate 201 and is in contact with the ankle.
As shown in FIG. 4, the ankle elastic member 202 is formed of 15 individual elastic struts in a sagittal plane inner circumferential array with normal elastic struts between each elastic strut as connectors. When a wearer wears the exoskeleton of the present invention, the ankle elastic element 202 is in direct contact with the ankle of the wearer, and the six-degree-of-freedom elastic design allows the ankle of the wearer to perform a small range of varus, valgus, adduction and abduction movements of the ankle within the safety limits, so as to achieve the effect of adapting to unrestricted movement of the ankle of the wearer.
As shown in FIG. 5, to achieve the daily functional needs of the ankle, pronation (eversion, abduction, dorsiflexion) and supination (varus, adduction, dorsiflexion), the present invention contemplates a six degree-of-freedom ankle resilient element 202 comprised of a plurality of individual resilient struts 2021 arrayed circumferentially within the sagittal plane and parallel resilient struts 2022 between each strut. The six-degree-of-freedom independent elastic support 2021 can realize X, Y, Z three spatial movements and three rotation corresponding to three axes, so that the ankle elastic element 202 can release the movement range of the ankle of a wearer, improve the compatibility of the ankle rehabilitation exoskeleton disclosed by the invention when different wearers wear the ankle rehabilitation exoskeleton disclosed by the invention, and promote the man-machine compliance of the same wearer wearing the ankle rehabilitation exoskeleton disclosed by the invention.
As shown in fig. 6, the forefoot fixing module 3 includes 2 forefoot parallel bars 301, 1 toe fixing bar 302, 1 instep fixing bar 303, and 1 elastic member 304, which function to fix the front end of the foot and adapt to the range of motion of the toe joint.
The front end of the front foot parallel rod 301 is provided with 1 pin hole, namely a front foot parallel rod front end pin hole 3012, the rear end is provided with 3 threaded through holes, namely a front foot parallel rod rear end threaded through hole 3011, and the 3 front foot parallel rod rear end threaded through holes 3011 are aligned with the 3 ankle joint shaft connecting plate front end threaded through holes 2012 and are fixed through screw connection.
The toe fixing lever 302 is shaped as a straight lever, and two ends of the straight lever are respectively provided with 2 pin holes, namely a toe fixing lever pin hole 3021 and a toe fixing lever lower side pin hole 3022.
The instep fixing lever 303 has a circular arc shape, and two ends of the circular arc are respectively provided with 1 pin hole, namely, an instep fixing lever pin hole 3031.
The elastic element 304 consists of a flexible spherical thin beam joint with the same size at the top and the bottom and a flexible column long beam in the middle, and the two ends of the column long beam are provided with strain gauges for assisting analysis of the ankle exoskeleton.
The elastic member 304 has one side fixedly connected to the medial center area of the forefoot parallel bar 301 and the other side directly contacting the phalanges of the wearer for adapting the range of motion of the toe joint.
The toe fixation rod pin holes 3031 are aligned with the toe fixation rod underside pin holes 3022 and are pinned such that the toe fixation rod 302 and the instep fixation rod 303 together form an annular structure that provides a fixation site for the front end of the foot.
The front end pin holes 3012 of the front parallel rods of the 2 front parallel rods 301 are aligned with the toe fixing rod pin holes 3021 at both ends of the toe fixing rod 302, respectively, and are fixed by pins, so that the 2 front parallel rods 301 are connected with the 1 toe fixing rod 302 as a whole, and the toe joint elastic member 304 is fixed on the front parallel rods 301.
When the wearer wears, the elastic element 304 is in direct contact with the phalanges of the wearer, and the six-degree-of-freedom elastic design allows the toe joint of the wearer to perform a small range of varus, valgus, adduction, abduction, dorsiflexion movements within the safety limits, achieving the effect of adapting to unrestricted free movement of the ankle of the wearer.
As shown in fig. 7, the hindfoot immobilization module 4 includes 2 hindfoot parallel bars 401 and 1 heel immobilization bar 402, which function to immobilize the foot's rear end and provide an end anchor for bowden cables.
The front end of the rear parallel rod 401 has 2 pin holes, namely the front pin holes 4011 of the rear parallel rod, and the rear end has 2 pin holes, namely the rear pin holes 4012 of the rear parallel rod.
The front pin holes 4011 of the parallel rods of the hindfoot are connected with the 2 pin holes 2013 of the rear end of the ankle joint shaft connecting plate 301 through bolts.
The heel fixing rod 402 has 2 pin holes at each end, namely, heel fixing rod pin hole 4021, and 1 circular through hole 4022 in the middle, which is the end fixing anchor point of the bowden cable.
The heel fixing rod pin holes 4021 at both ends of the heel fixing rod 402 are aligned with the rear end pin holes 4012 of the rear foot parallel rods, respectively, and are fixed by bolts such that the 2 rear foot parallel rods 401 are integrally connected with the 1 heel fixing rod 402.
The robot actively provides the wearer with supplementary plantar position Qu Liju in the sagittal plane, which moment is provided by the bowden cable, while wearing the exoskeleton according to the invention. The bowden cable is mounted by first passing through the semi-circular through hole 1032 in the middle of the lower leg transverse link 103 from top to bottom and then down into fixed connection with the circular through hole 4022 in the middle of the heel counter 402.
The wearing method of the embodiment is as follows:
s1, aligning the ankle joint elastic element 202 with the rotation axis of the ankle joint, and enabling the shank rod piece 101 to be parallel to the shank;
S2, the front end of the foot is fixed in an annular structure formed by the toe fixing rod piece 302 and the instep fixing rod piece 303;
s3, the high-elasticity flexible binding belt passes through the straight slot 1013 and the square hole 1014 of the shank rod 101 to fix the shank rod 101 on the shank.
The six-degree-of-freedom light high-compatibility ankle rehabilitation exoskeleton provided by the invention can be selected as a compliant control technology based on force interaction for control, wherein when a wearer performs plantar flexion movement of an ankle joint, a robot actively provides torque with proper size and transmits the torque to a terminal fixed anchor point through a bowden wire to provide auxiliary plantar flexion moment for the ankle joint of the wearer, so that self-adaptive on-demand assistance is realized.
The six-degree-of-freedom elastic element constructed by the invention can realize the pronation and supination motions of the ankle of the wearer on the premise of not affecting the normal gait of the wearer, greatly liberates the ankle activity area, improves the compatibility of the ankle rehabilitation exoskeleton disclosed by the invention when different wearers wear the ankle rehabilitation exoskeleton disclosed by the invention, and improves the man-machine compliance of the ankle rehabilitation exoskeleton disclosed by the invention when the same wearer wears the ankle rehabilitation exoskeleton disclosed by the invention. On the other hand, the topology optimization and weight reduction design disclosed by the invention greatly reduces the structural weight of the exoskeleton body, is convenient for the wearability of a patient in the rehabilitation training process, and greatly improves the movement flexibility and wearing comfort of the ankle rehabilitation exoskeleton.
Although the embodiments of the present invention have been disclosed above, it is not limited to the use listed in the specification and the embodiments, but it can be fully applied to various fields suitable for the present invention. It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (9)
1. The utility model provides a six light-duty high compatibility ankle rehabilitation ectoskeleton of degree of freedom which characterized in that:
comprises an ankle shin connecting rod module (1), an ankle joint shaft module (2), a forefoot fixing module (3) and a hindfoot fixing module (4);
the ankle shank connecting rod module (1) is used for fixing the exoskeleton on the lower leg and providing an anchor point for fixing a flexible transmission rope at the rear side of the lower leg;
The ankle shin connecting rod module (1) is connected with the ankle joint shaft module (2) through a ball bearing, and the ankle shin connecting rod module and the ankle joint shaft module can do circular motion around the rotating shaft of the ball bearing;
the ankle joint shaft module (2) is provided with a six-degree-of-freedom ankle joint elastic element (202) which is suitable for ankle joint movement, the ankle joint elastic element (202) comprises a plurality of independent elastic struts (2021) which are arrayed on the inner circumference of a sagittal plane, and all the struts are connected through parallel elastic struts (2022);
The function of the forefoot fixing module (3) is to fix the front end of the foot, and a six-degree-of-freedom toe joint elastic element (304) is arranged on the forefoot fixing module and is used for adapting to the movement of the toe joint;
The function of the hindfoot fixing module (4) is to fix the rear end of the foot, provide a tail end anchor point for a flexible driving rope and be used for carrying out power-assisted control on plantar flexion movement of the ankle joint, and assist the ankle joint to carry out plantar flexion movement by adopting a flexible control technology based on force feedback, namely, when the ankle joint carries out plantar flexion movement, the ankle joint actively provides torque with proper size and transmits the torque to the tail end anchor point of the hindfoot fixing module (4) through the flexible driving rope to provide auxiliary torque for the ankle joint.
2. The six degree of freedom lightweight high compatibility ankle rehabilitation exoskeleton of claim 1, wherein:
the ankle shank connecting rod module (1) comprises 2 shank rod pieces (101), 2 ankle shank coupling elements (102) and 1 shank transverse connecting rod (103);
the shank rod piece (101) is provided with a shank rod piece lower end threaded through hole (1011) and a shank rod piece central area threaded through hole (1012);
the ankle shank coupling element (102) is provided with an ankle shank coupling element upper end threaded through hole (1021) and an ankle shank coupling element lower end bearing through hole (1022), wherein the ankle shank coupling element upper end threaded through hole (1021) is aligned with the shank rod piece lower end threaded through hole (1011) and is fixedly connected through a screw;
the shank transverse connecting rod (103) is in an arc shape, a shank transverse connecting rod center semicircular through hole (1032) is formed in the center of the arc and used for fixing a flexible transmission rope, shank transverse connecting rod top threaded through holes (1031) are formed in two ends of the arc, the shank transverse connecting rod top threaded through holes (1031) at two ends of the arc are aligned with shank rod center area threaded through holes (1012) of 2 shank rod pieces (101) respectively and are connected and fixed through screws, and accordingly the 2 shank rod pieces (101) and the 1 shank transverse connecting rod (103) are connected into a whole.
3. The six degree of freedom lightweight high compatibility ankle rehabilitation exoskeleton of claim 2, wherein:
the shank bar (101) is provided with four straight notches (1013) and two square holes (1014) for reducing the mass of the bar;
the shank rod piece (101) is made of carbon fiber plates.
4. The six degree of freedom lightweight high compatibility ankle rehabilitation exoskeleton of claim 1, wherein:
The ankle joint shaft module (2) comprises 1 ankle joint shaft connecting plate (201) and 1 ankle joint elastic element (202);
The upper end, the front end and the rear end of the ankle joint shaft connecting plate (201) are respectively provided with a group of through holes, namely an ankle joint shaft connecting plate upper end bearing through hole (2011), an ankle joint shaft connecting plate front end threaded through hole (2012) and an ankle joint shaft connecting plate rear end pin hole (2013) which are respectively used for connecting an ankle shin connecting rod module (1), a forefoot fixing module (3) and a hindfoot fixing module (4);
the total number of threaded through holes (2012) at the front end of the ankle joint shaft connecting plate is 3;
The number of the pin holes (2013) at the rear end of the ankle joint shaft connecting plate is 2 in total;
The bearing through hole (2011) at the upper end of the ankle joint shaft connecting plate is connected with the bearing through hole (1022) at the lower end of the ankle shank coupling element through a ball bearing, so that 2 ankle joint shaft modules (2) and 1 ankle shank connecting rod module (1) are connected into a whole;
one side of the ankle elastic element (202) is fixedly connected with the medial center area of the ankle shaft connecting plate (201) and is in contact with the ankle.
5. The six degree of freedom lightweight high compatibility ankle rehabilitation exoskeleton of claim 1, wherein:
The number of independent elastic struts (2021) is 15;
The independent elastic support column (2021) consists of a flexible spherical thin beam joint with the same size at the top and the bottom and a flexible column long beam at the middle, and strain gauges are arranged at two ends of the column long beam and used for assisting analysis of the ankle exoskeleton.
6. The six degree of freedom lightweight high compatibility ankle rehabilitation exoskeleton of claim 1, wherein:
The forefoot fixing module (3) comprises 2 forefoot parallel rods (301), 1 toe fixing rod (302), 1 instep fixing rod (303) and 1 toe joint elastic element (304);
The front end of the front foot parallel rod piece (301) is provided with 1 pin hole, namely a front end pin hole (3012) of the front foot parallel rod piece, the rear end of the front foot parallel rod piece is provided with 3 threaded through holes, namely a rear end threaded through hole (3011) of the front foot parallel rod piece, and the rear end threaded through holes (3011) of the 3 front foot parallel rod pieces are aligned with the front end threaded through holes (2012) of the 3 ankle joint shaft connecting plates and are fixedly connected through screws;
The toe fixing rod piece (302) is in a straight rod shape, and two ends of the straight rod are respectively provided with 2 pin holes, namely an upper pin hole (3021) of the toe fixing rod piece and a lower pin hole (3022) of the toe fixing rod piece;
The instep fixing rod piece (303) is in a circular arc shape, and 1 pin hole is respectively formed at two ends of the circular arc, namely pin holes (3031) at two ends of the instep fixing rod piece;
the toe joint elastic element (304) consists of a flexible spherical thin beam joint with the same size at the top and the bottom and a flexible column long beam at the middle, and strain gauges are arranged at two ends of the column long beam and used for assisting analysis of the ankle exoskeleton;
The pin holes (3031) at two ends of the instep fixing rod piece are aligned with the pin holes (3022) at the lower side of the instep fixing rod piece, and are fixed through pins, so that the instep fixing rod piece (302) and the instep fixing rod piece (303) form an annular structure together, and a fixing site is provided for the front end of the foot;
Front pin holes (3012) of the front foot parallel rods (301) are aligned with upper pin holes (3021) of the toe fixing rods at two ends of the toe fixing rod (302) respectively, and are fixed by pins, so that the 2 front foot parallel rods (301) and the 1 toe fixing rod (302) are connected into a whole;
One side of the toe joint elastic element (304) is fixedly connected with the inner side central area of the front foot parallel rod piece (301), and the other side is directly contacted with the phalanges of a wearer and is used for adapting the movement range of the toe joint;
When the wearer wears, the toe joint elastic element (304) is in direct contact with the phalanges of the wearer, and the six-degree-of-freedom elastic design allows the toe joint of the wearer to perform small-range varus, valgus, adduction, abduction, toe flexion and dorsiflexion motions within the safety limit, so that the effect of adapting to free movement of the ankle of the wearer is not limited.
7. The six degree of freedom lightweight high compatibility ankle rehabilitation exoskeleton of claim 1, wherein:
The hindfoot fixing module (4) comprises 2 hindfoot parallel rods (401) and 1 heel fixing rod (402);
the front end of the rear foot parallel rod piece (401) is provided with 2 pin holes, namely a pin hole (4011) at the front end of the rear foot parallel rod piece, and the rear end of the rear foot parallel rod piece is also provided with 2 pin holes, namely a pin hole (4012) at the rear end of the rear foot parallel rod piece;
the front pin holes (4011) of the rear foot parallel rod pieces are connected with 2 pin holes (2013) at the rear end of the ankle joint shaft connecting plate (301) through bolts;
the heel fixing rod piece (402) is provided with 2 pin holes at two ends respectively, namely a heel fixing rod piece pin hole (4021), and is provided with 1 round through hole (4022) in the middle, which is the terminal fixing anchor point of the flexible transmission rope;
the heel fixing rod piece pin holes (4021) at two ends of the heel fixing rod piece (402) are aligned with the rear end pin holes (4012) of the rear foot parallel rod piece respectively and are fixed through bolts, so that the 2 rear foot parallel rod pieces (401) and the 1 heel fixing rod piece (402) are connected into a whole.
8. The six degree of freedom lightweight high compatibility ankle rehabilitation exoskeleton of claim 7 wherein the flexible rope is mounted as follows:
the flexible rope passes through the semicircular through hole (1032) in the middle of the lower leg transverse connecting rod (103) from top to bottom, and then descends to be fixedly connected with the circular through hole (4022) in the middle of the heel fixing rod piece (402).
9. The six degree of freedom lightweight high compatibility ankle rehabilitation exoskeleton of claim 8, wherein the method of wearing is as follows:
s1, aligning an ankle joint elastic element (202) with a rotation axis of an ankle joint, and enabling a shank rod piece (101) to be parallel to a shank;
S2, the front end of the foot is fixed in an annular structure formed by the toe fixing rod piece (302) and the instep fixing rod piece (303);
S3, the high-elasticity flexible binding belt passes through the straight slot (1013) and the square hole (1014) of the shank rod piece (101) to fix the shank rod piece (101) on the shank.
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