阅读说明：本技术 一种柔性踝关节康复机器人系统 (flexible ankle joint rehabilitation robot system ) 是由 王晶 尹帅 石斌 程波 于 2019-09-19 设计创作，主要内容包括：本发明公开了一种柔性踝关节康复机器人系统,执行模块通过鲍登线经小腿模块与脚部模块连接,小腿模块与脚部模块之间设置有测量鲍登线传输力的拉力模块；小腿模块上设置有小腿部陀螺仪,脚部模块上设置有脚部陀螺仪和压力鞋垫,压力鞋垫上设置有脚跟压力传感器和脚掌压力传感器,小腿部陀螺仪与脚部陀螺仪分别布置于用户小腿的正面和脚面上；压力鞋垫位于脚部模块内部,通过上位机向执行模块发送控制指令并接收传感反馈信息；执行模块将力矩通过鲍登线经小腿模块传递至脚部模块进而辅助踝关节运动；小脚部陀螺仪与脚部陀螺仪相互配合用于检测踝关节运动信息。本发明质量轻,达到针对足下垂与足内翻异常步态用户的步态训练功能。(The invention discloses a flexible ankle joint rehabilitation robot system.A execution module is connected with a foot module through a shank module by a Bowden cable, and a tension module for measuring the transmission force of the Bowden cable is arranged between the shank module and the foot module; the crus module is provided with a crus gyroscope, the foot module is provided with a foot gyroscope and a pressure insole, the pressure insole is provided with a heel pressure sensor and a sole pressure sensor, and the crus gyroscope and the foot gyroscope are respectively arranged on the front side and the foot surface of crus of a user; the pressure insole is positioned in the foot module, and sends a control instruction to the execution module through the upper computer and receives sensing feedback information; the execution module transmits the moment to the foot module through the shank module through the Bowden cable so as to assist the movement of the ankle joint; the crus part gyroscope and the foot part gyroscope are matched with each other to be used for detecting ankle joint movement information. The gait training device is light in weight, and achieves the gait training function aiming at the gait users with abnormal foot drop and foot varus.)

1. the flexible ankle joint rehabilitation robot system is characterized by comprising an execution module (2), wherein the execution module (2) is connected with a foot module (6) through a shank module (4) through a Bowden cable (3), the shank module (4) wraps a shank of a user, a tension module (5) is arranged between the shank module (4) and the foot module (6), and the tension module (5) is used for measuring transmission force of the Bowden cable (3); a crus gyroscope (7) is arranged on the crus module (4), a foot gyroscope (8) and a pressure insole (9) are arranged on the foot module (6), a heel pressure sensor (91) and a sole pressure sensor (93) are arranged on the pressure insole (9), and the crus gyroscope (7) and the foot gyroscope (8) are respectively arranged on the front surface and the foot surface of crus of a user and used for detecting the rotation angle of an ankle joint; the pressure insole (9) is positioned in the foot module (6) and provides an auxiliary signal for the execution module (2), the execution module (2) is connected with the upper computer (1), and the upper computer (1) sends a control instruction to the execution module (2) and receives sensing feedback information; the execution module (2) transmits the moment to the foot module (6) through the lower leg module (4) through the Bowden cable (3) so as to assist the movement of the ankle joint; the small foot gyroscope (7) and the foot gyroscope (8) are matched with each other to detect ankle joint movement information.

2. The flexible ankle joint rehabilitation robot system according to claim 1, wherein the execution module (2) comprises a bottom plate (27), a motor driving mechanism (21), a limiting mechanism (22), a pre-tightening mechanism (23), a motor driver (24), a direct current power supply (25) and a single chip microcomputer (26) are arranged on the bottom plate (27), the Bowden cable (3) is connected with the foot module (6) after being sequentially connected with the limiting mechanism (22) and the pre-tightening mechanism (23) through the motor driving mechanism (21), the single chip microcomputer (26) controls the motor driving mechanism (21) to generate torque through the motor driver (24) and receives sensing information of the limiting mechanism (22) and the motor driving mechanism (21), and the single chip microcomputer (26) and the motor driver (24) are respectively connected with the direct current power supply (25).

3. The flexible ankle joint rehabilitation robot system according to claim 2, characterized in that a soft shell of the bowden cable (3) is provided between the motor drive mechanism (21) and the stop mechanism (22) and between the stop mechanism (22) and the pretensioning mechanism (23).

4. The flexible ankle joint rehabilitation robot system according to claim 2, characterized in that the motor driving mechanism (21) comprises a motor fixing frame (28), a direct current brushless motor (211) and a speed reducer (212) are arranged on the motor fixing frame (28), an encoder (210) is arranged at the tail end of the direct current brushless motor (211), the brushless motor (211) is connected with a winding wheel (214) through the speed reducer (212), a winding wheel shell (213) is arranged between the speed reducer (212) and the winding wheel (214), and the winding wheel (214) is positioned in the winding wheel shell (213) and a winding wheel shell (215); the side surface of the reel (214) is provided with a reel wiring groove (218), a dorsiflexion winding groove (219) and a plantarflexion winding groove (240), and the reel wiring groove (218) is used for winding a steel wire core in the Bowden wire (3) on the reel; the diameter ratio of the dorsiflexion winding wheel groove (219) to the plantarflexion winding wheel groove (240) is 1-3 times; the reel shell (213) is provided with a plantar flexion groove (216) and a dorsiflexion groove (217) for arranging hoses outside the Bowden wires (3).

5. The flexible ankle joint rehabilitation robot system according to claim 2, characterized in that the limiting mechanism (22) comprises a double-side support (220) and a single-side support (228), a wire locking box (223) is arranged between the double-side support (220) and the single-side support (228), a spring (221) is arranged between the wire locking box (223) and the double-side support (220) and the single-side support (228), a steel wire core (222) is arranged in the spring (221), and a guide rail (226) is arranged between the double-side support (220) and the single-side support (228); a limiting sliding table (227) is arranged on the guide rail (226), a limiting support module (225) is arranged at the movement limit position of the guide rail (226), and a limiting switch (224) is arranged on the limiting support module (225); the wire locking box (223) is arranged on the limiting sliding table (227) and used for locking the steel wire core (222), and a hexagonal wire locking device (241) arranged in the wire locking box (223) is arranged in the sliding block upper cover (229) and the sliding block carrier (242); the wire core (222) transmits force to the pretensioning mechanism (23) through the lockbox (223).

6. The flexible ankle joint rehabilitation robot system according to claim 2, wherein the pre-tightening mechanism (23) comprises a pre-tightening housing (232) and a pre-tightening bracket (234), a pulley (236) is arranged between the pre-tightening housing (232) and the pre-tightening bracket (234), and one end of the pulley (236) is connected with the pre-tightening adjusting position (231).

7. The flexible ankle joint rehabilitation robot system according to claim 1, characterized in that the lower leg module (4) comprises, from top to bottom, a plantar flexion band (41), a dorsiflexion band (42) and a lower leg anchor point (43); the plantarflexion band (41) comprises an upper wide band (56), a plantarflexion Bowden wire groove (57) and a lower wide band (58); the dorsiflexion band (42) comprises a position fixing band (44), a near knee band (45), a dorsiflexion Bowden wire slot (46), a middle band (47), a near ankle band (48) and a vertical band (49); the position fixing belt (44) bypasses the upper wide belt (56) and is fixed through a magic tape; the near knee belt (45), the middle belt (47) and the near ankle belt (48) are sewn on the vertical belt (49) through stitches and magic tapes at two ends are used for wrapping the dorsiflexion belt on the lower leg of the user; the lower wide belt (58) is sewn on the upper wide belt (56) through stitches; a dorsiflexion Bowden cable groove (46) and a plantarflexion Bowden cable groove (57) are respectively fixed on the vertical belt (49) and the upper wide belt (56) for guiding the Bowden cable (3); the shank anchor point (43) is fixed below the vertical belt (49) and the lower broad belt (58).

8. The flexible ankle rehabilitation robot system according to claim 1, wherein the tension module (5) comprises a steel wire core (222), the steel wire core (222) passes through the lifting ring (53) to form a steel wire rope ring through the lock catch (52); the tension sensor (54) is respectively connected with the mountain-climbing lock catch (55) and the steel wire core (222) through a hanging ring (53).

9. The flexible ankle joint rehabilitation robot system according to claim 1, characterized in that the foot module (6) is subjected to a lateral force (61), a dorsiflexion force (63) and a resultant force (62), the lateral force (61) acting on the fifth metatarsal distal ankle joint; the dorsiflexion force (63) is applied to the third metatarsal distal malleolus, and the lateral force (61) and the dorsiflexion force (63) are combined into a resultant force (62) by adopting a force combination principle; the foot module (6) comprises a plantarflexion anchor point (64) and a dorsiflexion mechanism (65); the dorsiflexion mechanism (65) comprises a small motor (650), a small reel (651), an upper fixing block (652), a dorsiflexion sliding block (653), a dorsiflexion track (654), a rope collecting and releasing box (655) and a lower fixing block (656); the small motor (650) is connected with a dorsiflexion slide block (653) arranged on a dorsiflexion track (654) through a small reel (651), the dorsiflexion guide rail (654) is fixed on a user shoe by the upper fixing block (652) and the lower fixing block (656), and the rope receiving and releasing box (655) is fixed on the lower fixing block (656); the rope winding and unwinding box (655) comprises a winding and unwinding device shell (657), a small pulley (658), a torsion spring (659) and a winding and unwinding device shell (660); the torsion spring (659) is positioned in the small pulley (658); the small pulley (658) is located in the retraction device housing (657) and the retraction device housing (660).

10. the flexible ankle joint rehabilitation robot system according to claim 1, characterized in that the foot module (6) is subjected to a lateral force (61), a dorsiflexion force (63) and a resultant force (62), the lateral force (61) acting on the fifth metatarsal distal ankle joint; the dorsiflexion force (63) is applied to the third metatarsal distal malleolus, and the lateral force (61) and the dorsiflexion force (63) are combined into a resultant force (62) by adopting a force combination principle; the foot module (6) adopts a shoe cover (66), the shoe cover (66) comprises a front fixing belt (661), a position-adjustable dorsiflexion belt (662), an instep fixing belt (663), a rear fixing belt (664), a plantarflexion lifting buckle (665), a mesh buckle (666) and a coat (667); the front fixing belt (661), the instep fixing belt (663) and the rear fixing belt (664) are arranged on the coat (667), and the shoe cover (66) is tightly attached to the surface of the user's shoe through the magic tape; the position-adjustable dorsiflexion band (662) is arranged on the front fixing band (661), and a plurality of fixed resultant force anchor points are arranged on the position-adjustable dorsiflexion band (662); the eye-shaped buckle (666) is used for tightening the position-adjustable dorsiflexion band (662); a plantarflexion pull tab (665) is for providing an anchor point for plantarflexion.

Technical Field

The invention belongs to the technical field of medical rehabilitation training equipment, and particularly relates to a flexible ankle joint rehabilitation robot system.

Background

With the coming of the aging society of China, more and more stroke patients are available. Stroke is acute and high in fatality rate, which is one of the most important fatal diseases in the world, and the death rate of stroke also tends to rise with age. Due to the lack of effective treatment measures, the stroke patients often have hemiplegia after the stroke. The affected lower limb has weak antigravity muscle strength and weakened load bearing capacity, so the affected lower limb depends more on the load bearing of the healthy lower limb and shows that the supporting period of the affected single limb is shortened, so that an asymmetric gait is formed.

In the normal walking process of a human body, energy is mainly provided by ankle joints, knee joints and hip joints, wherein the ankle joints are used for doing work to occupy the main part, so that the rehabilitation of the ankle joints is very important in the gait rehabilitation of a stroke patient.

The ankle joint rehabilitation mainly comprises physical therapy, an ankle-foot orthosis, an ankle joint rehabilitation robot and the like, and the traditional physical therapy mainly depends on the experience of a therapist and is difficult to meet the requirements of high-strength and repetitive training. An ankle-foot orthosis is an orthopedic plastic device applied externally to the ankle joint which limits normal propulsion during walking and a reduction in gait compliance. In order to automatically and dynamically promote the movement of the ankle, in recent years, people invent a power ankle exoskeleton which can enable stroke patients with abnormal gait to walk normally. However, rigid rehabilitation robots are cumbersome and have poor comfort, inevitably adding significant weight to the lower limbs of the wearer, resulting in a slow and inefficient gait.

Ankle joint rehabilitation is very important in abnormal gait rehabilitation of stroke patients. Currently, most ankle rehabilitation robots primarily perform dorsiflexion and plantarflexion to assist foot drop patients, lacking a foot varus orthotic mechanism. Since a stroke patient has not only foot drop but also foot varus characteristics, there is a high necessity for research on an ankle rehabilitation robot having a dorsiflexion assistance function and an varus correction mechanism.

disclosure of Invention

The technical problem to be solved by the present invention is to provide a flexible ankle joint rehabilitation robot system aiming at the defects in the prior art, wherein abnormal gait exists in a stroke patient, the affected side pre-bearing period is prolonged, foot drop and inversion abnormal gait exist, the foot mopping phenomenon is caused by foot drop in the swing period, and meanwhile, the rigid rehabilitation robot has heavy weight and slow and low-efficiency gait. Therefore, the flexible rehabilitation robot is light in weight, the auxiliary motion of the affected side is realized through the lifting of the Bowden cable, and the gait rehabilitation of the user is finally realized through repeated gait walking training.

The invention adopts the following technical scheme:

a flexible ankle joint rehabilitation robot system comprises an execution module, wherein the execution module is connected with a foot module through a shank module through a Bowden cable, the shank module is wrapped on a shank of a user, and a tension module is arranged between the shank module and the foot module and used for measuring transmission force of the Bowden cable; the crus module is provided with a crus gyroscope, the foot module is provided with a foot gyroscope and a pressure insole, the pressure insole is provided with a heel pressure sensor and a sole pressure sensor, and the crus gyroscope and the foot gyroscope are respectively arranged on the front surface and the foot surface of crus of a user and used for detecting the rotation angle of the ankle joint; the pressure insole is positioned in the foot module and provides an auxiliary signal for the execution module, and the execution module is connected with the upper computer and sends a control instruction to the execution module through the upper computer and receives sensing feedback information; the execution module transmits the moment to the foot module through the shank module through the Bowden cable so as to assist the movement of the ankle joint; the crus part gyroscope and the foot part gyroscope are matched with each other to be used for detecting ankle joint movement information.

Specifically, the execution module comprises a bottom plate, a motor driving mechanism, a limiting mechanism, a pre-tightening mechanism, a motor driver, a direct current power supply and a single chip microcomputer are arranged on the bottom plate, a Bowden cable is connected with the foot module after being sequentially connected with the limiting mechanism and the pre-tightening mechanism through the motor driving mechanism, the single chip microcomputer controls the motor driving mechanism to generate torque through the motor driver and receives sensing information of the limiting mechanism and the motor driving mechanism, and the single chip microcomputer and the motor driver are respectively connected with the direct current power supply.

Furthermore, outer soft shells of Bowden wires are arranged between the motor driving mechanism and the limiting mechanism and between the limiting mechanism and the pre-tightening mechanism.

Further, the motor driving mechanism comprises a motor fixing frame, a direct current brushless motor and a speed reducer are arranged on the motor fixing frame, an encoder is arranged at the tail end of the direct current brushless motor, the brushless motor is connected with a winding wheel through the speed reducer, a winding wheel shell is arranged between the speed reducer and the winding wheel, and the winding wheel is positioned in the winding wheel shell and a winding wheel shell; the side surface of the winding wheel is provided with a winding wheel wiring groove, a dorsiflexion winding groove and a plantarflexion winding groove, and the winding wheel wiring groove is used for winding a steel wire core in the Bowden wire on the winding wheel; the diameter ratio of the dorsiflexion winding wheel groove to the plantarflexion winding wheel groove is 1-3 times; the reel shell is provided with a plantar flexion groove and a dorsiflexion groove for arranging hoses outside the Bowden wires.

furthermore, the limiting mechanism comprises a double-side support and a single-side support, a wire locking box is arranged between the double-side support and the single-side support respectively, springs are arranged between the wire locking box and the double-side support and between the wire locking box and the single-side support respectively, a steel wire core is arranged in each spring, and a guide rail is arranged between the double-side support and the single-side support; the guide rail is provided with a limiting sliding table, a limiting support module is arranged at the movement limit position of the guide rail, and a limiting switch is arranged on the limiting support module; the wire locking box is arranged on the limiting sliding table and used for locking the steel wire core, and the hexagonal wire locking device arranged in the wire locking box is arranged in the upper cover of the sliding block and the sliding block carrier; the steel wire core transmits the force to the pre-tightening mechanism through the wire locking box.

Furthermore, the pre-tightening mechanism comprises a pre-tightening shell and a pre-tightening support, a pulley is arranged between the pre-tightening shell and the pre-tightening support, and one end of the pulley is connected with a pre-tightening adjusting position.

Specifically, the shank module sequentially comprises a plantar flexion band, a dorsiflexion band and a shank anchor point from top to bottom; the plantar flexion belt comprises an upper wide belt, a plantar flexion Bowden wire groove and a lower wide belt; the dorsiflexion band comprises a position fixing band, a near knee band, a dorsiflexion Bowden wire casing, a middle band, a near ankle band and a vertical band; the position fixing belt is wound around the upper broadband and fixed by a magic tape; the near knee belt, the middle belt and the near ankle belt are sewn on the vertical belt through stitches, and the magic tapes at the two ends are used for wrapping the dorsiflexion belt on the crus of the user; the lower wide belt is sewn on the upper wide belt through needles and threads; the dorsiflexion Bowden cable slots and the plantarflexion Bowden cable slots are respectively fixed on the vertical belt and the upper wide belt and used for guiding the Bowden cables; the shank anchor point is fixed below the vertical belt and the lower wide belt.

Specifically, the tension module comprises a steel wire core. The steel wire core penetrates through the lifting ring to form a steel wire rope ring through the lock catch; the tension sensor is respectively connected with the mountain-climbing lock catch and the steel wire core through the hanging ring.

Specifically, the foot module bears the lateral force, the dorsiflexion force and the resultant force, and the lateral force action position is a node at the distal ankle of the fifth metatarsal; the dorsiflexion action position is the third metatarsal far ankle, and the lateral force and the dorsiflexion force are synthesized into a resultant force by adopting a force synthesis principle; the foot module comprises a plantar flexion anchor point and a dorsiflexion mechanism; the dorsiflexion mechanism comprises a small motor, a small reel, an upper fixing block, a dorsiflexion sliding block, a dorsiflexion track, a rope collecting and releasing box and a lower fixing block; the small motor is connected with a dorsiflexion slide block arranged on a dorsiflexion track through a small reel, the upper fixing block and the lower fixing block fix the dorsiflexion guide rail on a user shoe, and the rope winding and unwinding box is fixed on the lower fixing block; the rope winding and unwinding box comprises a winding and unwinding device shell, a small pulley, a torsion spring and a winding and unwinding device shell; the torsion spring is positioned in the small pulley; the small pulley is positioned in the retraction device shell and the retraction device shell.

Specifically, the foot module bears the lateral force, the dorsiflexion force and the resultant force, and the lateral force action position is a node at the distal ankle of the fifth metatarsal; the dorsiflexion action position is the third metatarsal far ankle, and the lateral force and the dorsiflexion force are synthesized into a resultant force by adopting a force synthesis principle; the foot module adopts a shoe cover which comprises a front fixing belt, a position-adjustable dorsiflexion belt, an instep fixing belt, a rear fixing belt, a plantarflexion lifting buckle, a mesh buckle and an outer sleeve; the front fixing band, the instep fixing band and the rear fixing band are arranged on the outer sleeve, and the outer sleeve is tightly attached to the surface of the user shoe through the magic tape; the position-adjustable dorsiflexion band is arranged on the front fixing band, and a plurality of fixed resultant force anchor points are arranged on the position-adjustable dorsiflexion band; the eye-shaped buckle is used for tightening the position-adjustable dorsiflexion band; the plantarflexion lifting tab is used to provide an anchor point for the plantarflexion.

Compared with the prior art, the invention has at least the following beneficial effects:

according to the flexible ankle joint rehabilitation robot system, the whole system adopts the flexible shank module and the flexible foot module, so that the weight is light, and efficient walking assistance can be provided; the rehabilitation robot transmits force in a Bowden wire mode, so that the force can be conveniently changed in the transmission direction and the loss in the force transmission process is reduced; the dorsiflexion module of the foot module adopts the force synthesis principle, and can carry out rehabilitation walking training on the user with foot varus and foot drop; the limiting mechanism avoids the robot from causing damage danger to a user, and the pre-tightening mechanism realizes the pre-tightening of the steel wire core, so that the rehabilitation robot can run smoothly; the pressure insole, the crus gyroscope and the foot gyroscope are added to identify the movement intention of the user, and meanwhile, the tension module and the encoder acquire information in real time to realize accurate assistance. The flexible rehabilitation robot can be used for realizing rehabilitation training of the movement function of the user.

furthermore, the execution module adopts an external form, a motor driving mechanism, a limiting mechanism, a pre-tightening mechanism and the like are fixed on the bottom plate, a device mechanism with large mass is arranged outside, and torque transmission can be realized only through a Bowden cable, so that the flexible ankle joint rehabilitation robot is light in weight, and the situation that a user blocks free movement when performing rehabilitation movement is avoided; and secondly, the integrated type medical instrument is fixed on the bottom plate, so that the whole execution module is convenient to move, and the rehabilitation place is convenient to replace.

Furthermore, an outer hose is adopted, so that the friction between the steel wire core in the Bowden cable and other mechanisms is reduced; secondly, avoid the steel wire core to expose and cause the injury to the user outside.

furthermore, the direct current brushless motor mainly realizes the functions of speed reduction and torque increase through a speed reducer; the encoder at the tail end of the direct-current brushless motor is used for collecting kinematic information of the motor and calculating the traction distance of the Bowden cable, so that the position of the motor is monitored in real time, and the closed-loop control of the motor is realized; the purpose of the reel cabling channel design is to facilitate the assembly of the bowden cable; because the dorsiflexion and the plantar flexion of the foot module are in proportional relation with the distance between the central rotating shaft of the ankle joint, the diameter ratio (radius ratio) of the dorsiflexion winding wheel groove and the plantar flexion winding wheel groove is 1-3, the purpose is to avoid the phenomenon that a steel wire core in the Bowden wire is loosened in the torque transmission process as much as possible, and the stability of the rotation angular speed of the ankle joint can be guaranteed in a manner of drawing the Bowden wire; the purpose of having both plantar and dorsiflexion slots in the reel housing for the arrangement of external hoses is to reduce friction between the wire core and the reel housing in the bowden cable being wound from the reel.

Furthermore, the limiting mechanism adopts a mode of a guide rail and a limiting switch, so that the problem of over-stretching in the auxiliary process is avoided, and the effect of safety guarantee is achieved; the purpose of increasing the spring is to ensure the stability and the flexibility in the process of pulling the Bowden cable, and the flexible output performance of the motor is controllable and adjustable similar to a series elastic driver.

Furthermore, the pre-tightening mechanism mainly keeps pre-tightening the steel wire core in the Bowden cable all the time, so that the problem that the steel wire core in the Bowden cable is loosened in the process of transmitting torque is avoided; the built-in pulley changes power transmission direction, reduces the friction between Bowden cable and the stop gear simultaneously.

Furthermore, the lower leg module is in the form of a plantar flexion belt and a dorsiflexion belt, so that a user can conveniently wear the lower leg module; the dorsiflexion band adopts three bands of a middle band, a near knee band and a near ankle band to wrap the crus of the user from top to bottom, the section diameter of the crus wrapped by the middle band of the crus of the user is the largest, and a middle convex wrapping mode is formed by the wrapping modes of the near knee band, the middle band and the near ankle band, so that the pre-tightening force of the wrapping mode is large, and the crus are not easy to loosen; the position fixing belt is used for fixing the dorsiflexion belt on the plantarflexion belt, and the dorsiflexion belt and the plantarflexion belt are mutually matched to form a whole; the dorsiflexion Bowden cable grooves and the plantarflexion Bowden cable grooves prevent the Bowden cables from running disorderly as long as the Bowden cables run; the shank anchor point fixes the tail end of the Bowden cable, so that the outer soft shell of the Bowden cable between the execution module and the shank module can not run, and the moment is transmitted only through the inner steel wire core.

Furthermore, the tension module is connected between the steel wire core and the foot anchor point and used for detecting the tension value of the execution tail end and detecting the auxiliary force of the flexible ankle joint rehabilitation robot in real time.

Furthermore, the principle of force synthesis is adopted, the acting points of the lateral force and the dorsiflexion force are integrated into one point, assistance is carried out aiming at the abnormal gait of the foot drop and the foot varus of the user, meanwhile, the power source in the assistance process is simplified, and the abnormal gait assistance can be realized only by adopting a direct current brushless motor; firstly, the plantar flexion anchor point and the dorsiflexion mechanism are directly fixed on the shoe of the user, the volume is small, the weight is light, the normal walking of the user cannot be influenced, and the psychological uncomfortable feeling cannot be caused when the user uses the machine; the dorsiflexion mechanism adjusts the position of the dorsiflexion slide block in real time by adopting a motor winding mode so as to realize the position self-adaptation of a resultant force anchor point, realize the position self-adaptation aiming at the foot varus degrees of different users and provide personalized assistance for the users; the rope winding and unwinding box (adopting the principle of a torsion spring) mainly tightens the wire on the other side of the dorsiflexion sliding block, and is matched with the motor and the winding wheel to avoid the movement of the dorsiflexion sliding block in the using process.

Furthermore, the principle of force synthesis is adopted, the acting points of the lateral force and the dorsiflexion force are integrated into one point, assistance is carried out aiming at the abnormal gait of foot drop and foot inversion of the user, and meanwhile, the power source in the assistance process is simplified; the shoe cover mode is adopted, so that the shoe cover is convenient for a user to wear, and meanwhile, the shoe cover does not damage the shoes of the user and is suitable for the shoes of different specifications of the user; the front fixing belt, the instep fixing belt and the rear fixing belt mainly fix the shoe cover on the shoe of the user; the eye-shaped buckle is used for tightening the position-adjustable dorsiflexion band; the position-adjustable dorsiflexion band provides a plurality of resultant force anchor points, and personalized selection of a user can be realized.

in conclusion, the invention has light weight, adopts a Bowden cable force transmission mode, and the force sensor, the pressure insole and the gyroscope in the system detect the information of the user in real time and realize the assistance according to the requirement, thereby achieving the gait training function aiming at the users with abnormal gait of foot drop and foot varus in a positive sense.

The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.

Drawings

FIG. 1 is a flow chart of the system of the present invention;

FIG. 2 is a schematic diagram of the system of the present invention;

FIG. 3 is a schematic diagram of an implementation module of the present invention;

FIG. 4 is a schematic view of the motor drive mechanism of the present invention;

FIG. 5 is a schematic view of a spacing mechanism of the present invention;

FIG. 6 is a schematic view of a pretensioning mechanism according to the present invention;

FIG. 7 is a schematic view of a calf module of the present invention;

FIG. 8 is a schematic view of a tension module of the present invention;

FIG. 9 is a schematic view of a foot module of the present invention;

Fig. 10 is a schematic view of a pressure insole of the present invention.

Wherein: 1. an upper computer; 2. an execution module; 3. a Bowden wire; 4. a shank module; 5. a tension module; 6. a foot module; 7. a lower leg gyroscope; 8. a foot gyroscope; 9. a pressure insole; 21. a motor drive mechanism; 22. a limiting mechanism; 23. a pre-tightening mechanism; 24. a motor driver; 25. a direct current power supply; 26. a single chip microcomputer; 27. a base plate; 210. an encoder; 211. a DC brushless motor; 212. a speed reducer; 213. a reel shell; 214. a reel; 215. a reel housing; 216. a plantar flexion groove; 217. a dorsiflexion trough; 218. a reel raceway; 219. a dorsiflexion winding slot; 240. a plantar flexion winding slot; 28. a motor fixing frame; 220. bilateral support; 221. a spring; 222. a steel wire core; 223. a wire locking box; 224. a limit switch; 225. a limiting supporting block; 226. a guide rail; 227. a limiting slide block; 228. unilateral supporting; 229 sliding block upper cover; 241. a hexagonal wire locker; 242. a slider carrier; 231. pre-tightening the adjusting position; 232. pre-tightening the shell; 233. a Bowden wire hole; 234. pre-tightening the bracket; 235. a bolt; 236. a pulley; 237. a nut; 41. a plantar flexion zone; 42. a dorsiflexion band; 43. anchoring the shank; 44. a position fixing band; 45. the proximal lap belt; 46. dorsiflexion bowden trunk; 47. a middle belt; 48. near the ankle zone; 49. a vertical belt; 56. an upper broadband; 57. a plantar flexion bowden cable slot; 58. a lower broadband; 52. locking; 53. a hoisting ring; 54. a tension sensor; 55. climbing lock catches; 61. an outboard force; 62. combining the forces; 63. a dorsiflexion force; 64. a plantar flexion point; 65. a dorsiflexion mechanism; 66. a shoe cover for the foot; 650. a small motor; 651. a small reel; 652. an upper fixed block; 653. a dorsiflexion slider; 654. a dorsiflexed trajectory; 655. a rope storing box; 656. a lower fixed block; 657. a storage device housing; 658. a small reel; 659. a torsion spring; 660. a retraction device housing; 661. a front fixing band; 662. a position adjustable dorsiflexion band; 663. instep fixing straps; 664. a rear fixing belt; 665. a plantar flexion lifting buckle; 666. a button with a shape like Chinese character 'mu'; 667. a jacket; 91. a heel pressure sensor; 92. shoe-pad; 93. a sole pressure sensor.

Detailed Description

in the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "one side", "one end", "one side", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1, the invention provides a flexible ankle joint rehabilitation robot system, firstly, a user adjusts an auxiliary training parameter and selects an auxiliary mode through an upper computer, then, the upper computer transmits a control instruction to a single chip microcomputer, further, the single chip microcomputer transmits the control instruction to a driving module, the driving module pulls a bowden cable through a motor to realize torque transmission, wherein a limiting mechanism in the driving module prevents old people from being damaged, and a pre-tightening mechanism prevents the bowden cable from being loosened; the shank module provides an anchor point, and the foot module provides a plantar flexion anchor point and a resultant force anchor point; the steel wire core in the Bowden wire applies force to the plantar flexion anchor point and the resultant force anchor point of the foot module to realize ankle joint movement, so that the walking training of a user is realized;

Secondly, detecting the movement intention of the user and the auxiliary state of the rehabilitation robot by adopting a plurality of sensors; the pressure insole and the gyroscope detect the movement intention of a user in real time, and the force sensor and the encoder detect the force and the kinematic information provided by the motor in real time; the detection information is sent to the single chip microcomputer and uploaded to the upper computer for processing and analysis, and then the torque provided by the driving module and the winding speed of the motor driving mechanism are adjusted.

Referring to fig. 2, the flexible ankle joint rehabilitation robot system of the present invention includes an upper computer 1, an execution module 2, a bowden cable 3, a calf module 4, a tension module 5, a foot module 6, a calf gyroscope 7, a foot gyroscope 8, and a pressure insole 9.

The upper computer 1 is connected with the execution module 2, the execution module 2 is connected with the foot module 6 through the shank module 4 through the Bowden cable 3, the shank module 4 is wrapped on a shank of a user, the tension module 5 is arranged between the shank module 4 and the foot module 6, and the tension module 5 is used for measuring the transmission force of the Bowden cable 3; a crus gyroscope 7 is arranged on the crus module 4, a foot gyroscope 8 and a pressure insole 9 are arranged on the foot module 6, and the upper computer 1 sends a control instruction to the execution module 2 and receives sensing feedback information of the flexible ankle joint rehabilitation robot; the execution module 2 transmits the moment to the foot module 6 through the shank module 4 by the Bowden cable 3 so as to assist the ankle joint movement; the small foot gyroscope 7 and the foot gyroscope 8 are matched with each other for use and are used for detecting ankle joint movement information; the user can complete rehabilitation training on a running machine or other places by wearing the flexible ankle joint rehabilitation robot.

The crus gyroscope 7 and the foot gyroscope 8 are respectively arranged on the front of crus and the foot surface of the user and are used for detecting the rotation angle of the ankle joint; a pressure insole 9 is located inside the foot module 6 and provides an auxiliary signal to the actuator module 2, the pressure insole 9 being like a switch.

Referring to fig. 3, the execution module 2 includes a motor driving mechanism 21, a limiting mechanism 22, a pre-tightening mechanism 23, a motor driver 24, a dc power supply 25, a single chip microcomputer 26, and a bottom plate 27.

the motor driving mechanism 21, the limiting mechanism 22, the pre-tightening mechanism 23, the motor driver 24, the direct-current power supply 25 and the single chip microcomputer 26 are all fixed on the bottom plate 27, and the motor driving mechanism 21 transmits force to the foot module 6 through the limiting mechanism 22 and the pre-tightening mechanism 23 in sequence through a steel wire core in the Bowden cable 3; outer soft shells of the Bowden cable 3 are arranged between the motor driving mechanism 21 and the limiting mechanism 22 and between the limiting mechanism 22 and the pre-tightening mechanism 23, so that friction between an inner steel wire core and each mechanism is reduced; a dc power supply 25 supplies power to the motor driver 24; the single chip microcomputer 26 controls the motor driving mechanism 21 to generate torque through the motor driver 24 and receives sensing information of the limiting mechanism 22 and the motor driving mechanism 21.

Referring to fig. 4, the motor drive mechanism 21 includes an encoder 210, a dc brushless motor 211, a speed reducer 212, a reel case 213, a reel 214, and a reel housing 215.

the motor fixing frame 28 fixes the dc brushless motor 211 and the speed reducer 212 on the bottom plate 27; the encoder 210 is positioned at the tail end of the brushless DC motor 211 and is used for detecting kinematic information, and the kinematic information of the motor and the force information detected by the tension module are fed back to the upper computer to realize ideal track tracking of the motor; an output shaft of the brushless motor 211 after being decelerated by the speed reducer 212 is connected with a winding wheel 214 through a key, and the wire core in the Bowden wire 3 is drawn through the winding wheel 214; the reel 214 is positioned in the reel shell 213 and the reel housing 215, the reel 214 is provided with a reel wiring groove 218 on the side surface and a dorsiflexion winding groove 219 and a plantarflexion winding groove 240, and the reel wiring groove 218 is convenient for winding a steel wire core in the Bowden wire 3 on the reel and is convenient for assembly; the distance between the dorsiflexion and plantarflexion windings is different, so that the diameter ratio of the dorsiflexion winding wheel groove 219 to the plantarflexion winding wheel groove 240 is 1-3 times; the pulley shell 213 is provided with a plantar flexion groove 216 and a dorsiflexion groove 217 for arranging hoses outside the bowden cable 3, in order to reduce the moment loss caused by friction between the wire core of the bowden cable 3 and the pulley shell 213.

Referring to fig. 5, the limiting mechanism 22 includes a double-side support 220, a spring 221, a wire core 222, a wire locking box 223, a limiting switch 224, a limiting support block 225, a guide rail 226, a limiting slider 227 and a single-side support 228.

The double-side support 220, the limit supporting block 225 and the single-side support 228 are fixed on the bottom plate 27; a guide rail 226 is arranged between the double-side support 220 and the single-side support 228; a limit sliding table 227 is arranged on the guide rail 226; the wire locking box 223 is arranged on the limiting sliding table 227 and used for locking the steel wire core 222, and a hexagonal wire locking device 241 in the wire locking box 223 is arranged in the sliding block upper cover 229 and the sliding block carrier 242; the wire core 222 transmits the force to the pretensioning mechanism 23 via the lockbox 223; springs 221 are disposed between the double-sided support 220 and the lockbox 223 and between the lockbox 223 and the single-sided support 228; the limit switches 224 are located on the limit support module 225 and distribute the movement limit positions of the two guide rails 226.

the wire locking box 223 slides on the guide rail 226 along with the limiting sliding table 227, and the spring 221 is compressed, so that the stable auxiliary movement process is ensured, and the function of connecting an elastic driver in series is achieved; limit switch 224 primary function prevents that excessive assistance from appearing in the auxiliary motion and causes user's ankle joint secondary damage, moves extreme position when spacing slip table 227, and limit switch 224 senses spacing slider 227 position and with signal transmission to singlechip 26, and then controls direct current brushless motor 211 stall through motor drive 24.

Referring to fig. 6, the pre-tightening mechanism 23 includes a pre-tightening adjusting position 231, a pre-tightening housing 232, a bowden cable hole 233, a pre-tightening bracket 234, a bolt 235, a pulley 236 and a nut 237;

Pulley 236 is fixed between pretension housing 232 and pretension bracket 234 by bolt 235 and nut 237; the pre-tightening bracket 234 is fixed on the bottom plate 27; the pretension adjustment position 231 achieves multi-stage pretension by adjusting the position of the pulley 236.

referring to fig. 7, the shank module 4 includes a plantar flexion band 41, a dorsiflexion band 42, and a shank anchor point 43; dorsiflexion strap 42 includes position fixation strap 44, proximal knee strap 45, dorsiflexion bowden cable slot 46, medial strap 47, proximal ankle strap 48 and vertical strap 49; the plantarflexion band 41 comprises an upper wide band 56, a plantarflexion bowden cable slot 57 and a lower wide band 58;

The position fixing belt 44 is fixed by a magic tape by bypassing the upper wide belt 56; the near knee belt 45, the middle belt 47 and the near ankle belt 48 are sewn on the vertical belt 49 through stitches and magic tapes at the two ends are used for wrapping the dorsiflexion belt on the lower leg of the user; the lower wide band 58 is sewn on the upper wide band 56 by stitches; dorsiflexion Bowden wire slots 46 and plantarflexion Bowden wire slots 57 are respectively fixed to the vertical belt 49 and the upper wide belt 56 for guiding the Bowden wires 3; the calf anchor 43 is secured beneath the vertical strap 49 and the inferior wide strap 58.

referring to fig. 8, the tension module 5 includes a wire core 222, a latch 52, a hanging ring 53, a tension sensor 54, and a mountain climbing latch 55.

The steel wire core 222 passes through the hanging ring 53 and forms a steel wire rope ring through the lock catch 52; the tension sensor 54 is connected with the mountain-climbing lock catch 55 and the steel wire core 222 through the hanging ring 53.

Referring to fig. 9, the foot module 6 is provided with three forces, namely a lateral force 61, a dorsiflexion force 63 and a resultant force 62, wherein the lateral force 61 is applied at a node at the distal ankle of the fifth metatarsal; the dorsiflexion force 63 is applied to the third metatarsal distal malleolus, and the lateral force 61 and the dorsiflexion force 63 are synthesized into a resultant force 62 by adopting a force synthesis principle; the foot module 6 adopts two schemes, specifically as follows:

1) The foot module 6 comprises a plantarflexion anchor point 64 and a dorsiflexion mechanism 65;

The dorsiflexion mechanism 65 includes a small motor 650, a small reel 651, an upper fixed block 652, a dorsiflexion slider 653, a dorsiflexion track 654, a cable storage box 655 and a lower fixed block 656.

the small motor 650 is connected to a dorsiflex slider 653 provided on the dorsiflex track 654 via a small reel 651, an upper fixing block 652 and a lower fixing block 656 fix the dorsiflex guide 654 to the user's shoe, and a cable take-up and pay-off box 655 is fixed to the lower fixing block 656.

The rope storage box 655 includes a storage device housing 657, a small pulley 658, a torsion spring 659 and a storage device housing 660;

A torsion spring 659 is located within the small pulley 658; the small pulley 658 is located within the retractor housing 657 and retractor housing 660.

The small motor 650 drives the small reel 651 to drive the dorsiflexion sliding block 653 to slide on the dorsiflexion track 654 in a winding mode so as to automatically adjust the position of a resultant force point, and the rope winding and unwinding box 655 realizes wire tightening through an internal torsion spring 659, so that dislocation of the dorsiflexion sliding block 653 is avoided; the foot gyroscope 8 detects the angle information of the coronal plane of the foot of the user and transmits the angle information to the upper computer 1 through the single chip microcomputer 26, so that the small motor 650 is controlled to rotate forward and backward to wind to adjust the position of the dorsiflexion slide block 653, and the automatic adjustment of the resultant force anchor point is realized.

2) The foot module 6 adopts a shoe cover 66, and the shoe cover 66 comprises a front fixing belt 661, a position-adjustable dorsiflexion belt 662, an instep fixing belt 663, a rear fixing belt 664, a plantarflexion pull-up buckle 665, a mesh buckle 666 and an overcoat 667.

The front fixing strap 661, the instep fixing strap 663 and the rear fixing strap 664 are sewn on the coat 667 through stitches and the shoe cover 66 is tightly attached to the surface of the user's shoe through a magic tape, so that the user can conveniently wear the shoe cover 66; the position-adjustable dorsiflexion band 662 is arranged on the front fixing band 661, a plurality of fixed resultant force anchor points are arranged on the position-adjustable dorsiflexion band 662, and a user can select a proper resultant force anchor point according to the self condition; eye buckle 666 is used to tighten position adjustable dorsiflex band 662 to ensure that position adjustable dorsiflex band 622 is snug against the user's shoe surface; the plantarflexion pull tab 665 provides an anchor point for plantarflexion.

referring to fig. 10, pressure insole 9 includes heel pressure sensor 91, insole 92 and ball pressure sensor 93.

The heel pressure sensor 91 and the sole pressure sensor 93 are fixed on the insole 92; the heel pressure sensor 91 and the sole pressure sensor 93 are used to detect a contact state between the user's foot and the ground.

the invention adopts an external structure, the execution module is arranged outside and integrated on the bottom plate, and the flexible canvas shank module and the Bowden cable are adopted to transmit torque, thereby avoiding increasing weight burden to a user;

The torque is transmitted by the direct-current brushless motor through the speed reducer in a winding wheel mode, so that the torque transmission process is simplified, the friction of the flexible pipe on the outer surface of the Bowden cable is reduced, and the torque loss is avoided;

The limiting mechanism avoids the problem of over-traction in the auxiliary process, the spring plays a role of connecting the elastic driver in series to ensure the output flexibility, and meanwhile the pre-tightening mechanism ensures the pre-tightening of the Bowden cable in real time;

The foot module combines a dorsiflexion force anchor point and a lateral force anchor point into a resultant force anchor point by adopting a force synthesis principle, so that abnormal gaits of underfoot and upturning of a user are solved.

The invention is suitable for people with dysbasia or needing walking assistance, including lower limb patients, old people and people with special needs. The invention has light structure weight, does not obstruct the natural movement of users, can carry out rehabilitation training in the places such as the treadmill, the indoor and the like, and can meet the requirements of different users.

The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.