JP4085422B2 - Joint drive device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a joint drive device that performs joint motion or automatic motion for joint exercise such as ankle joint range of motion training, muscle strength training, and continuous strength training in rehabilitation of cerebrovascular disease and orthopedic disease, for example. About.
[0002]
[Prior art]
As an ankle joint drive device that performs rehabilitation by holding a human ankle joint and passively exercising it, conventional joint drive devices simultaneously perform the exercise of pushing the sole and the heel bone downward. Such devices have been proposed. That is, in FIG. 7 and FIG. 8, the calcaneus grasping portion 12 provided on the foot holder 11 moves the calcaneus of the foot 101 constrained to the foot holder 11 by the cuff 13 from both sides in the width direction of the foot 101. By pinching, the foot holder 11 is swung around the ankle shaft 20 by the foot holder driving means 21 so that the movement around the ankle joint can be appropriately performed (see Patent Document 1).
[0003]
[Patent Document 1]
Japanese Patent Laid-Open No. 11-89897 [0004]
[Problems to be solved by the invention]
Generally, in rehabilitation, where physical therapists actually perform manual operation in ankle function recovery training, when the ankle joint is flexibly bent and dorsiflexed, the toes flex to enhance the training effect.・ Along with the extension movement.
However, the above-described conventional device can swing around the ankle joint, but does not have a structure that can flex and extend the toes. Since the joint training pattern cannot be realized, the contracture of the ankle joint, such as the heel, is improved, but the joint contracture such as toe flexion contraction and claw deformation is not improved, and a normal walking pattern is realized There was a problem of not being.
Accordingly, an object of the present invention is to perform ankle joint drive that can simultaneously perform flexion and extension movements of the toes as well as ankle joints flexion and dorsiflexion movements, and can simultaneously improve the joint contracture of the ankles and toes. Is to provide a device.
[0005]
[Means for Solving the Problems]
In order to solve the above problem, the joint driving device according to claim 1 includes a first member provided on both sides of the ankle and extending vertically and a second member provided at a right angle to the first member. A base (10) for holding the provided leg (100), a foot holder (11) for holding a foot (101) rotatably provided on the first member of the base, and the base (10) ) Of the shin cuff (14) provided on the second member , the instep cuff (13) provided on the foot holder (11), and the foot joint shaft (20) as the rotation center. A foot holder drive motor (21) that swings the holder (11), and a joint drive device that performs rehabilitation for holding a human foot joint and passively moving the foot joint (102). And swingable around the second toe joint axis (30) Provided, said toe portion (102) toe section holder for flexion and extension (31), and the toe portion toes cuff provided in the holder (31) (33), the foot portion And a toe part holder drive motor (32) fixed to the holder (11).
According to the joint drive device of the first aspect, the toe can be bent and extended simultaneously with the plantar flexion and dorsiflexion of the ankle joint.
[0006]
The joint drive device according to claim 2 is a crus (100) provided with a first member provided on both sides of the ankle and extending vertically and a second member provided at a right angle to the first member. ), A foot holder (11) for holding a foot (101) rotatably provided on the first member of the base, and a second member of the base (10) . The shin cuff (14), the instep cuff (13) provided on the foot holder (11), and the foot holder (11) are swung around the ankle joint axis (20). A foot holder drive motor (21) for holding a toe part (102) and a second toe joint in a joint drive device for performing rehabilitation to hold a person's ankle joint and perform passive movement axis (30) is swingable as the center of rotation, said toe (102) and the toe portion holder for flexion and extension (31),
A toe part hinge B (43) fixed to both sides or one side of the toe part holder (31) so that the center of rotation is parallel to the second toe joint axis (30); The bar (41) fixed to the finger hinge B (43), the bar (41) can be swung around the toe rotation axis (40) parallel to the toe second joint axis (30), and with said base secured to the first member (10) a joint (42) to linear motion movably supported in a direction perpendicular to the toe rotation axis (40), the said joint (42), the and it is characterized in that it is changeable fixing the position.
According to the joint drive device of claim 2, it is possible to simultaneously apply the sole flexion / dorsiflexion motion and the toe flexion / extension motion by the one foot holder drive means 21, The flexion and extension angles of the toes can be adjusted by the patient, and it is possible to give each patient an optimal movement.
[0007]
The joint drive device according to claim 3 includes a slide part (50) that can move in the foot length direction on the foot part holder (11), and a locking mechanism (51) for the slide part ( 50 ). It is characterized by that.
According to the joint drive device of the third aspect, the center of swinging motion of the toes can be adjusted in accordance with the size of the patient's foot, and it is possible to give each patient an optimal motion.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
Example 1
A joint drive device according to a first embodiment of the present invention will be described with reference to FIGS. 1A and 1B are views showing a first embodiment of the present invention, in which FIG. 1A is a front view and FIG. 1B is a left side view. 2 and 3 are front views showing specific examples of the toe part holder drive means 32 of the first embodiment. That is, the base 10 for holding the crus 100 shown in FIG. 1 (a) or (b), the foot holder 11 for holding the foot 101, the base 10 and the foot holder 11 respectively. The shin cuff 14, the instep cuff 13, and the foot holder driving means 21 that is fixed to the base 10 and swings the foot holder 11 about the ankle joint axis 20 as a rotation center, A toe holder 31 provided at the tip of the toe holder 11 to hold the toe part 102 and swingable around the toe second joint shaft 30, and a toe provided to the toe part holder 31 The finger part cuff 33 and the toe part holder driving means 32 fixed to the foot part holder 11 are used.
[0009]
In this embodiment, the lower leg 100 of the patient's training limb is provided by the shin cuff 14 provided on the base 10, and the patient's limb cuff 13 provided on the foot holder 11 and the foot holder 11. The feet 101 of the training limbs are each held and fixed. Furthermore, the toe part 102 of the patient's training limb is held and fixed by the toe part holder 31 and the toe part cuff 33. In this state, the foot 11 held and fixed to the foot holder 11 is swung by the foot holder driving means 21 with the ankle joint shaft 20 as the center of rotation, thereby causing the plantar flexion / dorsiflexion motion of the ankle joint. Can be realized.
The foot holder drive means 21 decelerates the rotational movement of the rotary drive in the forward and reverse directions via a reduction gear, a drive pulley, a drive belt, and a driven pulley, as disclosed in, for example, Japanese Patent Laid-Open No. 11-89897. -It transmits and rocks the foot holder 11. Alternatively, as in actual climbing No. 2594944, both ends of the linear motion driver are rotatably supported by the base 10 and the foot holder 11, respectively, and the translational motion of the linear motion driver is centered on the ankle joint shaft 20. The foot holder 11 may be oscillated by converting into the rotational motion.
On the other hand, the toe part 102 held and fixed to the toe part holder 31 is swung by the toe part holder driving means 32 fixed to the toe holder 11 with the second toe joint shaft 30 as the rotation center. The Specific examples of the toe holder driving means 32 are shown in FIGS. That is, the toe part holder driving means in FIG. 2 includes a rotation driver 300 fixed to the foot holder 11 so that the rotation center thereof is parallel to the toe second joint shaft 30, and a speed reducer (not shown). , A drive pulley (not shown), a transmission belt 301, and a driven pulley (not shown).
[0010]
According to this embodiment, the rotational movement of the rotation driver 300 in the forward and reverse directions is decelerated and transmitted via the speed reducer, the drive pulley, the transmission belt 301, and the driven pulley, and the toe holder 31 is moved to the foot. By swinging around the second finger joint shaft 30 as a rotation center, bending and extension movements of the toes can be realized.
In this case, as the rotation driver, an electric type such as an inverter type AC motor or an AC servo motor or a hydraulic type such as a hydraulic motor can be used. Further, as another aspect of the speed reduction / transmission means, the rotation driver 300 is fixed so as to be parallel to the second toe joint shaft 30 and is shaken via a reduction gear and a plurality of spur gear trains (not shown). One to be moved, one in which the rotation driver 300 is fixed so as to be orthogonal to the second toe joint shaft 30 and is made to swing through a speed reducer and a bevel gear (not shown), or the rotation driver 300 is moved to the second toe. A member fixed on the same axis as the joint shaft 30 and swinging via a reduction gear (not shown) may be used.
[0011]
3 includes a linear motion driver 310, a foot hinge 311 provided on the foot holder 11 so that the rotation center thereof is parallel to the toe second joint axis 30, and the like. Similarly, the toe part hinge 31 A is provided on the toe part holder 31 so that the center of rotation thereof is parallel to the toe second joint axis 30, and both ends of the linear motion driver 310 are connected to the toe part hinge 311. The toe hinge A312 is rotatably supported.
[0012]
According to this embodiment, the translational motion of the linear motion driver 310 is converted into a rotational motion around the toe second joint shaft 30 and the toe part holder 31 is swung, Bending / extending movement can be realized.
In this case, as the linear motion drive, an AC servo motor combined with a ball screw mechanism, an electric type such as an AC linear servo motor, or a hydraulic type such as a hydraulic cylinder can be used.
As described above, according to the joint drive device of this embodiment, the foot holder 11 is swung by the foot holder drive means 21 and the toe part holder 31 is swung by the toe part drive means 32. It is possible to provide an ankle joint driving device that can perform flexion and extension movements of the toes simultaneously with the plantar flexion and dorsiflexion movements of the ankle joint, and can simultaneously improve the joint contracture of the ankle joint and the toes.
[0013]
(Example 2)
Next, a joint drive device according to a second embodiment of the present invention will be described with reference to FIGS. 4A and 4B are views showing a second embodiment of the present invention, in which FIG. 4A is a front view and FIG. 4B is a left side view. FIG. 5 is a diagram showing different forms of foot holder swing angles during training according to the second embodiment.
4 (a) or 4 (b), the crus 100 of the patient's training limb is placed on the base 10 by the shin cuff 14 provided on the base 10 and the training limb is placed on the base 10 as in the first embodiment. The foot 101 of the patient's training limb is held and fixed by the foot holder 11 provided so as to be swingable about the ankle joint axis 20 and the instep cuff 13 provided on the foot holder 11. Furthermore, a toe part holder 31 provided at the tip of the toe holder 11 so as to be swingable around the toe second joint shaft 30 of the patient's training limb, and a toe part cuff provided on the toe part holder 31. 33 holds and fixes the toe 102 of the patient's training limb. In such a state, the foot 101 held and fixed to the foot holder 11 is swung by the foot holder driving means 21 fixed to the base 10 with the ankle joint shaft 20 as the rotation center, Ankle plantar flexion and dorsiflexion movements can be realized.
[0014]
As in the first embodiment, the foot holder driving means 21 swings the foot holder 11 with a configuration as disclosed in, for example, Japanese Patent Application Laid-Open No. 11-89897 and Japanese Utility Model No. 2594944.
On the other hand, a toe part hinge B43 is provided on both side surfaces of the toe part holder 31 that holds the toe part 102 so that the rotation center thereof is parallel to the toe second joint axis 30, and further, An L-shaped bar 41 is fixed to the toe part hinge B43. Further, a joint 42 for supporting the bar 41 on the base 10 so as to be able to swing around a toe rotation axis 40 parallel to the toe second joint axis 30 and to be linearly movable in a direction orthogonal to the toe rotation axis 40. Is fixed by means capable of changing its position. At that time, the joint 42 is always fixed to the side closer to the toe part 102 than the ankle joint axis 20. In addition, the toe part hinge B43, the bar 41, and the joint 42 are provided only on one side of the toe part holder 31 and the base 10 when the mechanical strength is sufficient to realize the movement of the toe part. It is good also as a form to provide .
[0015]
The operation of each component according to the above embodiment will be described with reference to FIG. That is, the center diagram (2) shows the time when the ankle joint angle of the patient's treatment limb is in a natural state. In this state, first, the angle of the toe of the patient's treatment limb is in a natural state. The bar 41 is moved linearly at the joint 42 to determine its position.
From this state, when the foot 101 is swung around the ankle shaft 20 by the foot holder driving means 21 in the direction in which the ankle joint is bent back as shown in the right figure (3), the positional relationship between the bar 41 and the joint 42 is obtained. Accordingly, the toe part holder 31 is swung in the direction in which the toe part 102 is extended in conjunction with the swinging motion of the foot part 101.
Furthermore, through the natural state, when swinging the leg portion 101 by the foot holder driving means 21 in a direction to buckled bottom ankle to the ankle joint axis 20 about as shown in the left in FIG. (1), and a bar 41 joint 42, the toe part holder 31 is swung in the direction in which the toe part 102 is bent in conjunction with the swinging motion of the foot part 101. Further, by changing the fixing position of the joint 42, the swinging motion angle of the toe portion 102 performed in conjunction with the swinging motion of the foot portion 101 is set to a desired angle.
[0016]
According to the joint drive device of this embodiment, the foot holder 11 is caused to swing by the foot holder drive means 21, thereby simultaneously performing the plantar flexion / dorsiflexion motion of the ankle joint and the flexion / extension motion of the toe. In addition, it is possible to adjust the flexion / extension angle of the toes by the patient by adjusting the fixing position of the joint 42, and it is possible to give each patient an optimal motion.
[0017]
(Example 3)
Next, a third embodiment of the present invention will be described with reference to FIG.
6A and 6B are views showing a third embodiment of the present invention, in which FIG. 6A is a front view and FIG. 6B is a left side view. 6 (a) or 6 (b), the foot holder 11 is provided with a slide portion 50 that can move in the foot length direction and a locking mechanism 51 thereof. The linear motion mechanism in this case is a simple mechanism in which the cross-sectional shape of the slide part 50 is a slightly larger cross-sectional shape than the cross-sectional shape of the foot holder 11, and the slide part 50 and the foot holder 11 are made of a sliding material, or A mechanism for fixing the slide part and the foot holder via a linear guide bearing can be used. Further, the locking mechanism 51 can be configured by a long hole portion having a length equivalent to a stroke in the foot length direction provided in the slide portion 50, a screw portion provided in the foot portion holder 11, and the like. With the above configuration, when the patient's foot length is different, the slide part 50 is linearly moved in the foot length direction to align the toe second joint shaft 30, and the position can be fixed by the locking mechanism 51. .
According to the joint drive device of this embodiment, the swinging motion center of the toes can be adjusted by moving the slide unit 50 according to the size of the patient's foot, and the optimal motion for each patient can be achieved. It becomes possible to give.
[0018]
【The invention's effect】
According to the joint drive device of the first aspect of the present invention, the foot holder is swung by the foot holder drive means and the toe holder is swung by the toe drive means, so that the ankle joint is bent and bent. At the same time, it is possible to provide an ankle joint driving device that can flexibly and extend the toe at the same time, and can simultaneously improve joint contracture between the ankle joint and the toe.
According to the joint drive device of claim 2, by causing the foot holder to swing by the foot holder drive means, the sole flexion / dorsiflexion motion and the toe flexion / extension motion are simultaneously given. In addition, by adjusting the joint fixing position, the flexion / extension angle of the toes can be adjusted by the patient, and it is possible to give each patient an optimal movement.
According to the joint drive device of the joint drive device according to claim 3, the center of swinging motion of the toes can be adjusted by moving the slide portion according to the size of the patient's foot, which is optimal for each patient. It becomes possible to give a special exercise.
[Brief description of the drawings]
FIGS. 1A and 1B are diagrams showing a joint drive device according to a first embodiment of the present invention, where FIG. 1A is a front view and FIG. 1B is a left side view.
FIG. 2 is a front view showing a first specific example of a toe holder driving unit of the joint driving device according to the first embodiment of the present invention.
FIG. 3 is a front view showing a second specific example of the toe holder driving means of the joint driving device according to the first embodiment of the present invention.
FIGS. 4A and 4B are diagrams illustrating a joint drive device according to a second embodiment of the present invention, in which FIG. 4A is a front view and FIG. 4B is a left side view.
FIG. 5 is a diagram showing different forms of foot holder swing angles during training by the joint drive device according to the second embodiment of the present invention.
6A and 6B are diagrams showing a joint drive device according to a third embodiment of the present invention, where FIG. 6A is a front view and FIG. 6B is a left side view.
FIG. 7 is a perspective view showing a conventional joint drive device.
FIG. 8 is a right side view showing a conventional joint drive device.
[Explanation of symbols]
10: base 11: foot holder 12: calcaneus gripping portion 13: instep cuff 14: shin cuff 20: ankle joint shaft 21: foot holder driving means 30: second toe joint shaft 31: foot holder 32: Toe part holder driving means 33: Toe part cuff 40: Toe rotation axis 41: Bar 42: Joint 43: Toe part hinge B
50: Slide part 51: Locking mechanism 100: Lower leg part 100: Lower leg part 101: Foot part 102: Toe part 300: Rotation driver 301: Transmission belt 310: Linear motion driver 311: Foot hinge 312: Toe Hinge A

Claims (3)

A base (10) for holding a lower leg (100) provided with a first member provided on both sides of the ankle and extending vertically and a second member provided at right angles to the first member ; A foot holder (11) for holding a foot (101) rotatably provided on the first member of the base, a shin cuff (14) provided on a second member of the base (10), An instep cuff (13) provided in the foot holder (11), a foot holder drive motor (21) for swinging the foot holder (11) about the ankle joint axis (20), and In a joint drive device that performs rehabilitation to hold a human ankle joint and perform passive movement,
A toe part holder (31) that holds the toe part (102) and is swingable about the toe second joint axis (30 ) to bend and extend the toe part (102). )When,
A toe cuff (33) provided on the toe holder (31);
A joint drive device comprising: a toe part holder drive motor (32) fixed to the foot part holder (11). A base (10) for holding a lower leg (100) provided with a first member provided on both sides of the ankle and extending vertically and a second member provided at right angles to the first member ; A foot holder (11) for holding a foot (101) rotatably provided on the first member of the base, a shin cuff (14) provided on a second member of the base (10), An instep cuff (13) provided in the foot holder (11), a foot holder drive motor (21) for swinging the foot holder (11) about the ankle joint axis (20), and In a joint drive device that performs rehabilitation to hold a human ankle joint and perform passive movement,
A toe part holder (31) that holds the toe part (102) and is swingable about the toe second joint axis (30 ) to bend and extend the toe part (102). )When,
A toe part hinge B (43) fixed to both side surfaces or one side surface of the toe part holder (31) so that the rotation center thereof is parallel to the second toe joint axis (30);
A bar (41) fixed to the toe hinge B (43);
The bar (41) is supported to be swingable about a toe rotation axis (40) parallel to the toe second joint axis (30) and to be linearly movable in a direction perpendicular to the toe rotation axis (40). A joint (42) fixed to the first member of the base (10)
The joint (42), joint driving apparatus characterized by being modified secured its position. A slide portion (50) that can move linearly in the foot length direction on the foot holder (11);
The joint drive device according to claim 1, further comprising a locking mechanism (51) for the slide portion (50).

Images