CN201168163Y - An ankle rehabilitation robot - Google Patents

Abstract

The utility model relates to an ankle joint rehabilitation robot. It includes a mechanical part, a control part and a display part. The mechanical part includes a base and a moving platform. Three branch chains with the same structure and a central constraint rod with a central spherical pair are installed in parallel and evenly distributed between the base and the moving platform. Each branch chain is composed of a rotating pair, a lower spherical pair, a connecting rod and an upper spherical pair; the upper end of the central restraining rod is connected to the center of the moving platform through a spherical hinge; three identical curved plates are evenly distributed and fixed on the base , three torque motors of the same specification are respectively installed on three bending plates, and are respectively connected to the rotating pairs of three branch chains; foot pedals are installed on the moving platform, and a three-dimensional or A six-dimensional force/torque sensor, a position sensor is installed on the shaft of the rotating pair; the control part includes a computer and its software, a multi-axis motion control card and a driver; the software includes rehabilitation software that interacts with the patient, and the rehabilitation software includes rehabilitation training, Information feedback and function evaluation three subsystems.

Description

An ankle rehabilitation robot

technical field

The utility model relates to a rehabilitation device for human limbs, specifically a rehabilitation device capable of automatically performing rehabilitation exercises on the patient's ankle joint, named ankle joint rehabilitation robot, and the international patent classification number is intended to be Int.Cl.A61H 1/00 (2006.01).

Background technique

Mr. Girone of Rutger University in the United States and his colleagues have developed a device for orthopedic rehabilitation using the Rutger ankle interface, which can be used to help patients with ankle muscle injuries perform rehabilitation training (see Gironi et al. , Orthopedic Rehabilitation Using the “Rutgers Ankle” Interface[A]. Proc. of Medicine Meets Virtual Reality, January 2000, Girone, M.J., et al. 2000 [C]. IOS Press, pp.89-95, January 2000.). The device is based on the Stewart platform and uses a pneumatic servo mechanism to enable the moving platform to move in six degrees of freedom. The ankle has a large space for movement, which is convenient for rehabilitation training of the ankle joint. However, the structure of the device is complicated, an independent gas source needs to be configured, and the manufacturing and use costs are high. Jian S.Dai from the University of London introduced a parallel device scheme of spherical pair S, mobile pair P and spherical pair S (3SPS/S), trying to realize the three-degree-of-freedom motion of the movable platform of the ankle physical therapy device. (See Jian S. Dai. et al. Sprained Ankle Physiotherapy Based Mechanism Synthesis and Robotic Rehabilitation Device Stiffness Analysis. Autonomous Robotics 2004, 16: 207-218. Jian S. Dai, Tieshi Zhao, Christopher. Sprained Ankle Physiotherapy Based Mechanism Synthesis and Stiffness Analysis of a Robotic Rehabilitation Device. Autonomous Robots, 2004, (16): 207-218.). But this scheme also has the deficiency that it is relatively difficult to drive the mobile pair P to realize motion, and there is no report on the specific technology of this scheme.

Utility model content

Aiming at the imperfection of the prior art, the technical problem to be solved by the utility model is to design an ankle joint rehabilitation robot, which has three degrees of freedom of movement, and its moving platform can drive the injured ankle to realize functional training , has the functions of active exercise therapy and passive exercise therapy at the same time, and has a simple structure, low cost, convenient adjustment, and automatic record of exercise parameters, which is beneficial to the scientific treatment and rehabilitation of ankle joint injuries.

The technical solution of the utility model for solving the technical problems of the robot is to design an ankle joint rehabilitation robot, which is characterized in that it includes a mechanical part, a control part and a display part. The mechanical part includes a base and a moving platform, and the base and the Three branch chains with the same structure and a central constraint rod with a central spherical pair are installed in parallel and evenly distributed between the moving platforms. Each branch chain is composed of a rotating pair, a lower spherical pair, a connecting rod and an upper spherical pair; The lower spherical pair is fixed on the end of the rotating pair by bolts, the lower spherical pair is connected with the upper spherical pair through a connecting rod, and the upper spherical pair is fixedly connected to the lower surface of the moving platform; It is connected with the center of the moving platform; three identical curved plates are evenly distributed and fixed on the base, and three torque motors of the same specification are respectively installed on the three curved plates, and are connected to the three branch chains respectively. The rotary pair is driven and connected; the moving platform is equipped with pedals, and a three-dimensional or six-dimensional force/torque sensor is installed between the moving platform and the pedals, and a position sensor is installed on the shaft of the rotating pair; The control part includes computer and its software, multi-axis motion control card and driver; the software includes rehabilitation software that interacts with patients, and the rehabilitation software includes three subsystems of rehabilitation training, information feedback and functional evaluation; The multi-axis motion control card is placed in the slot of the PC computer, and is respectively connected with the three torque motors through the driver by cables; the display part includes a display connected with the computer cables.

Compared with the prior art, the utility model has the following advantages:

1. The existing ankle joint rehabilitation equipment can only complete simple movements, and the movement parameters cannot be adjusted. The ankle joint rehabilitation parallel robot of the utility model works by means of the computer, the robot system and the multi-axis motion control card through the driver to drag the torque motor, and drives the moving platform to automatically perform multi-directional rehabilitation medical treatment or training on the patient's ankle, and the adjustment is flexible. Motion parameters are automatically recorded.

2. The existing Rutger ankle joint rehabilitation equipment in the United States has six degrees of freedom. According to the possibility of ankle joint movement, in fact, only three degrees of freedom are required for ankle joint rehabilitation. Therefore, the device with six degrees of freedom is a redundant function, which makes its structure very complicated, and the pneumatic servo device used needs to be equipped with an independent air source, which is expensive, inconvenient to use and limited by cost. The utility model satisfies the three degrees of freedom required by the rehabilitation exercise of the ankle joint, adopts electric drive, has convenient power supply, simple structure, low cost, and is convenient for manufacture and practical use.

3. The force and position parameters of existing ankle joint rehabilitation devices are not easy to measure. The design of the three-dimensional force/moment sensor and the photoelectric encoder (position sensor) described in the ankle joint rehabilitation robot of the utility model can measure force and position parameters conveniently. And it can establish a patient rehabilitation database, which is convenient for doctors to understand the patient's rehabilitation status, and scientifically formulate a plan for further rehabilitation treatment of patients based on the data in the database.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure and appearance shape of an embodiment of the ankle joint rehabilitation robot of the present invention;

Fig. 2 is the 3-RSS/S structure schematic diagram of an embodiment of the ankle joint rehabilitation robot of the present invention;

Fig. 3 is a block diagram of the relationship between the subsystem and the patient of an embodiment of the ankle joint rehabilitation robot of the present invention;

Fig. 4 is a schematic structural view of the control part of an embodiment of the ankle joint rehabilitation robot of the present invention;

Fig. 5 is a schematic workflow diagram of an embodiment of the ankle joint rehabilitation robot of the present invention.

Detailed ways

Describe the utility model in detail below in conjunction with embodiment and accompanying drawing thereof:

An ankle joint rehabilitation robot (hereinafter referred to as a robot, referring to Fig. 1-5) designed by the utility model includes a mechanical part, a control part and a display part. The mechanical part includes a base 1 and a moving platform 11, and three branch chains with the same structure and a central restraining rod 15 with a central spherical pair 10 are installed in parallel and evenly distributed between the base 1 and the moving platform 11, each The branch chains are all composed of revolving pair (crank) 5, lower spherical pair 4, connecting rod 8 and upper spherical pair 9 (ie 3-RSS/S structure, R-rotating pair, S-spherical pairing). The lower spherical pair 4 is fixed on the end of the rotating pair (crank) 5 by the bolt 2, the lower spherical pair 4 is connected with the upper spherical pair 9 through the connecting rod 8, and the upper spherical pair 9 is fixedly connected to the center of the moving platform 11 lower surface; the upper end of the central restraining rod 15 is connected to the center of the moving platform 11 through a ball joint 10; three torque motors 6 of the same specification are respectively installed on three identical curved plates 3, and the curved plates 3 are evenly distributed and fixed. Installed on base 1. Described rotary pair (crank) 5 is installed on the axle of torque motor 6, is driven to rotate by torque motor 6. Foot pedal 13 is installed on the described moving platform 11, and three-dimensional or six-dimensional force/moment sensor 12 (embodiment is six-dimensional, because current domestic commercially available commodity sensor 12 is installed between moving platform 11 and foot pedal 13 There are only six dimensions); a position sensor, i.e. a photoelectric encoder 7, is installed on the shaft of the revolving pair 5.

The base 1 of the robot of the utility model and three branch chains with the same structure installed evenly between the base 1 and the moving platform 11 support and stabilize the whole rehabilitation robot. This design does not require the patient to bear the weight of the rehabilitator. PC computer and rehabilitation software respectively drive three torque motors 6 to move through the multi-axis motion control card and driver, drive the rotating pair (crank) 5 to rotate, and move the moving platform 11 through the 3RSS branch chain, which is fixed in the force/torque The foot pedal 13 on the top of the sensor 12 drives the patient's ankle joint to perform rehabilitation exercises. In order to reduce the weight of the whole machine, the moving platform 11 and the pedal 13 of the robot are made of aluminum alloy. The base 1 is made of steel to increase its stability.

The upper end of the central constraint rod 15 is connected to the center of the lower surface of the moving platform 11 through a ball joint 10; its function is to restrain and support the moving platform 11. This structure enables the moving platform 11 to rotate with three degrees of freedom and can bear relatively large loads. During use, the patient can step on the foot pedal 13 fixed on the upper part of the torque sensor 12 with the foot that has damaged the ankle joint, and the moving platform 11 of the robot drives the patient's ankle joint to perform rehabilitation exercises. At the same time, the three-dimensional force/torque sensor 12 installed on the moving platform 11 and the position sensor (photoelectric encoder) installed on the 5 axes of the revolving pair detect the parameters of force and position respectively, and the force/torque sensor cables 14 and Encoder cable 16 transmits force and position signals to the computer system. The torque motor 6 is instructed by the computer system to drive the (crank) 5 to rotate, and the lower spherical pair 4, the connecting rod 8 and the upper spherical pair 9 drive the moving platform 11 to move. Three torque motors 6 of the same specification work at the same time, so that the moving platform 11 can realize the three degrees of freedom movement required for ankle joint rehabilitation.

The control part of the robot of the utility model includes a computer and its software, a multi-axis motion control card and a driver. The software includes rehabilitation software that interacts with patients, and the rehabilitation software includes three subsystems: rehabilitation training, information feedback and function evaluation. The rehabilitation training subsystem controls the patient's use mode, training mode, rehabilitation action, parameter setting, etc.; the information feedback subsystem can provide real-time feedback on the speed, angle, torque and other information during the training process, so that patients can keep abreast of their own training situation ; Functional evaluation subsystem to evaluate the training effect of the patient, and display it to the patient through the display screen, so that they can clearly grasp their own training situation. It is not difficult for those skilled in the art to provide the rehabilitation software according to the requirements of the utility model. The multi-axis motion control card is inserted into the host computer of the PC, and is respectively connected with the three torque motors through the drivers by cables. Described control part (comprising software) itself is prior art, and the multi-axis motion control card of embodiment is commercially available product, and model is PMAC2-PC/104; The driver of embodiment is also commercially available product, and product is Accelus digital type . The host computer transmits positioning instructions to the multi-axis motion control card via the BUS, and controls the corresponding (torque motor) drivers through PMAC programming to drive the three torque motors 6 to move respectively.

The display part of the robot of the utility model includes a display connected with a computer cable. In addition to the monitor, a cable can be further used to connect the printer to output relevant information with paper media.

The robot of the utility model can make the patient's ankle joint do the rehabilitation exercise of the following three degrees of freedom, or have the three degrees of freedom required for the ankle joint rehabilitation exercise: varus/valgus movement of the ankle joint; dorsiflexion of the ankle joint /plantar flexion; adduction/abduction of the ankle joint. The range of varus/valgus motion of the ankle joint is 25-30°; the range of ankle dorsiflexion/plantar flexion motion is +20°--30°; the range of adduction/abduction motion of the ankle joint is 25°. The three parallel branch chains described in the robot of the utility model can realize the motions required for the rehabilitation of various ankle joints.

The working principle and process of the robot of the present utility model are as follows: the robot is placed on the ground, the rehabilitation patient sits on the adjacent chair, and puts the patient's foot on the pedal 13 . According to the injury condition of the patient, select the motion parameters of the ankle joint, varus, valgus, plantar flexion angle, extension angle, and the number of motions, and input them into the computer. The three torque motors 6 are respectively driven by the PC computer and its software through the multi-axis motion control card and the driver. After passing through the three 3RSS branch chains, the patient's ankle is driven by the moving platform 11 and the foot pedal 13 to perform corresponding rehabilitation. sports. The patient can observe the movement of the rehabilitation limb through the display screen connected to the PC computer host. The PC computer and its software store the data of each rehabilitation exercise of each patient in a set database by means of the force/torque sensor 12 and the photoelectric encoder 7, so that the doctor can grasp the rehabilitation progress of the patient's ankle joint and formulate further steps for the patient. Ankle joint rehabilitation planning is conducive to the scientific treatment and early recovery of the patient's ankle joint.

The robot of the utility model is particularly suitable for patients with ankle joint dysfunction caused by trauma or cardiovascular and cerebrovascular diseases. Through scientific rehabilitation training, the normal function of the ankle joint can be better restored.

The unmentioned part of the utility model robot is applicable to the prior art.

Claims (2)

1. An ankle joint rehabilitation robot is characterized in that it includes a mechanical part, a control part and a display part, and said mechanical part includes a base and a moving platform, and three robots with the same structure are installed in parallel and evenly distributed between the base and the moving platform. A branch chain and a central restraining rod with a central spherical pair, each branch chain is composed of a rotating pair, a lower spherical pair, a connecting rod and an upper spherical pair; the lower spherical pair is fixed at the end of the rotating pair by bolts , the lower spherical pair is integrated with the upper spherical pair through a connecting rod, and the upper spherical pair is fixedly connected to the lower surface of the moving platform; the upper end of the central restraining rod is connected with the center of the moving platform through a spherical hinge; uniformly distributed on the base There are three identical bent plates fixedly installed, and three torque motors of the same specification are mounted on the three bent plates respectively, and are respectively connected with the rotating pairs of the three branch chains; the moving platform is equipped with Pedal, a three-dimensional or six-dimensional force/torque sensor is installed between the moving platform and the pedal, and a position sensor is installed on the shaft of the revolving pair; the control part includes a computer and its software, multi-axis motion control card and driver; the software includes rehabilitation software that interacts with the patient, and the rehabilitation software includes three subsystems of rehabilitation training, information feedback and functional evaluation; the multi-axis motion control card is placed in the slot of the PC computer, And the cables are respectively connected to the three torque motors through the drivers; the display part includes a display connected to the computer cables. 2. The ankle joint rehabilitation robot according to claim 1, characterized in that the model of the multi-axis motion control card is PMAC2-PC/104; the driver is an Accelus digital driver.

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