CN104146850A - Rehabilitation air cushion shoe simulating walking power mode - Google Patents
Rehabilitation air cushion shoe simulating walking power mode Download PDFInfo
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- CN104146850A CN104146850A CN201410374533.6A CN201410374533A CN104146850A CN 104146850 A CN104146850 A CN 104146850A CN 201410374533 A CN201410374533 A CN 201410374533A CN 104146850 A CN104146850 A CN 104146850A
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Abstract
The invention provides a rehabilitation air cushion shoe simulating a walking power mode. The rehabilitation air cushion shoe comprises a shoe support module, an air cushion system module, a power system module and a control system module, air cushions in the air cushion system module are flatwise placed on a sole supporting plate and a heel supporting plate in the shoe support module respectively, a motor in the power system module is mounted on an air cylinder head fixing plate in the air cushion system module and pushes an air cylinder piston in the air cushion system module according to signals of the control system module to realize inflation and deflation of an air cylinder in the air cushion system module so as to finally control pressure stimulation strength and pressure stimulation speed on the sole supporting plate and the heel supporting plate of the shoe support module. The rehabilitation air cushion shoe can provide sole pressure stimulation to a sole in the process of normal walking when a patient having trouble in walking utilizes weight-reduction gait trainer for training, so that rehabilitation effect is improved.
Description
Technical field
The present invention relates to the device of healing robot technical field, particularly, relate to a kind of rehabilitation air mattrens shoes that imitates walking dynamic mode.
Background technology
China approximately has apoplexy patient nearly 7,000,000 at present, and a year new apoplexy case reaches 1,500,000 people, spinal cord injury year new cases can reach more than 10 ten thousand people.Along with the raising of economic construction and treatment level, central nervous system injury patient's mortality rate obviously declines, and disables but finally still have more than 80%, and wherein dyskinesia is the most common.Lower limb function has directly determined the standing of patient, transfer and locomotor activity, thereby determine patient's life activity scope, and communal participation scope and quality of life, therefore, for the patient of central nervous system injury, recovering locomotor activity is that they participate in one of primary goal of rehabilitation training.
Nowadays conventional gait training equipment is loss of weight gait training device.In training process, patient is due to physiology and psychological factor restriction, and its lower limb can not support the body weight of oneself conventionally.In loss of weight gait training device, utilize a suspension system to alleviate the heavy burden of patient's lower limb, then patient trains step movement under the state of loss of weight.But clinical research result is repeatedly emphasized the facilitation of foot force to gait rehabilitation.In upright gait training process, sole stimulates has increased patient's lower limb muscles activity intensity.In gait training, rhythmical foot force contributes to activation pressure sensor, increases perception information input, has the potential that promotes that walking-function recovers.So patient, utilizing loss of weight gait training device when training, needs a pair of power shoe system, the suffered dynamic characteristic of sole in real-time Simulation normal gait, power when the normal walking that allows patient's sole receive to bear a heavy burden completely stimulates.
Through the retrieval of prior art is found, the Chinese patent of application number 201220193875.4, title: a kind of gasbag-type bradyseism plantar pressure footwear, this technology comprises upper of a shoe device and the sole device by ball of foot correspondence portion, heel correspondence portion and middle interconnecting piece one.The ball of foot corresponding position of sole is provided with gasbag-type bradyseism elastomer between the first sole of the foot toe and the 5th sole of the foot toe.This system can balancing pressure of sole, and protection sole preserves from; But can not give the pressure of ball of foot sizes different from heel.The Chinese patent of application number 201020215450.X, title: relieving stress footwear, this technology comprises vamp, sole and upper of a shoe.Sole rear and front end is provided with elastic buffer conduit, and the multiple passages that arrange with sole edge are connected, and toe position inside the vamp is provided with 5 independently grooves.This system can make toe feel comfortable, has good breathability in footwear, alleviates surge and massage effect.But the pressure pattern that in this massage effect and daily gait processes, sole is accepted differs greatly, the dynamical feedback that imitate walking can not to the pressure of sole sizes different from heel.So the structure of above-mentioned patent and performance also have improved space.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of rehabilitation air mattrens shoes that imitates walking dynamic mode, described rehabilitation air mattrens shoes can allow the patient of walking disorder in when training of marking time of carrying out loss of weight, sole still can be accepted the Pressure stimulation as in the normal walking process of heavy burden completely, promotes patient's walking-function rehabilitation.
For realizing above object, the invention provides a kind of rehabilitation air mattrens shoes that imitates walking dynamic mode, comprise shoe support module, lift system module, dynamical system module and control system module, wherein:
Shoe support module, for supporting the bottom surface of whole foot;
Lift system module, for providing the pneumatic element of Pressure stimulation to sole and heel;
Control system module, this module, according to the movement angle information of shoe support module, is sent and is controlled the pressure size of shoe support module and the signal of stimulation rate;
Dynamical system module, the signal that this module is sent according to control system module is accurately controlled pressure size and the stimulation rate that in shoe support module, lift system module produces, and the foot force finally reaching as normal walking stimulates.
Preferably, described shoe support module includes sole gripper shoe and heel gripper shoe; Described lift system module includes air cushion, cylinder and cylinder head fixing head; In the sole gripper shoe of described shoe support module and heel gripper shoe, keeping flat respectively the air cushion in lift system module; Described dynamical system module is provided with motor, this motor is arranged on the cylinder head fixing head in lift system module, and according to the signal of control system module, promote the cylinder piston in lift system module, realize the inflation of cylinder and bleed, finally reaching Pressure stimulation size and Pressure stimulation speed in sole gripper shoe and the heel gripper shoe of controlling shoe support module.
Preferably, described shoe support module also comprises: toe gripper shoe, leg fixing frame, ankle joint fixing head, air cushion fixing head, gripper shoe rotating shaft, gripper shoe connecting rod, angular transducer, pressure transducer, wherein: toe gripper shoe is connected with sole gripper shoe by gripper shoe rotating shaft; Sole gripper shoe is connected with heel gripper shoe by gripper shoe connecting rod, and regulates the total length of rehabilitation air mattrens shoes by gripper shoe connecting rod; The rear portion of heel gripper shoe is provided with leg fixing frame, middle part two outer fixs are separately installed with ankle joint fixing head; Be respectively arranged with the air cushion fixing head for fixing air cushion in the both sides of sole gripper shoe and heel gripper shoe; On gripper shoe rotating shaft, be provided with to record the angular transducer of rotational angle; In sole gripper shoe and heel gripper shoe, be respectively provided with one for recording the pressure transducer of sole upward pressure.
Preferably, described lift system module also comprises: breather, cylinder gas outlet, tail cylinder fixing head, cylinder piston and piston slurcam, wherein: one end of breather connects air cushion, the other end is connected on cylinder gas outlet; Cylinder is spacing by tail cylinder fixing head and cylinder head fixing head; The head end of cylinder connects cylinder piston; The top of cylinder piston connects piston slurcam.
Preferably, described dynamical system module also comprises: motor fixing plate, shaft coupling, screw mandrel and screw rod fixing plate, wherein: motor is spacing by motor fixing plate implementation space; One end of shaft coupling is connected with the output shaft of motor, the other end is connected with screw mandrel, realizes rotatablely moving of screw mandrel; One end of screw mandrel is fixed on cylinder head fixing head, the other end is fixed on screw rod fixing plate, and described screw mandrel is fixed on the piston slurcam of lift system module.
More preferably, described dynamical system module also comprises: guide rod, and guide rod is through piston slurcam, and two ends are separately fixed on the cylinder head fixing head and screw rod fixing plate in lift system module.
Preferably, described control system module comprises four branch roads, respectively: left heel branch road, left foot ramus volaris profundus road, right crus of diaphragm calcaneus branches road and right crus of diaphragm ramus volaris profundus road, each branch road is according to the result that records of pressure transducer and angular transducer, gives respectively three kinds of motor messages of motor: forward rotation, brake and rotate backward.Taking the motor of left heel as example: in the time that taking measurement of an angle of right crus of diaphragm angular transducer shows that right crus of diaphragm is experiencing heel lift process, the motor forward rotation of left heel, gives the inflation of left heel air cushion; In the time that the pressure transducer at the bottom of left foot shows that pressure reaches maximum, left foot motor braking, makes left heel keep constant pressure; In the time that taking measurement of an angle of left foot angular transducer shows that left foot is experiencing heel and lifts process, the motor of left heel rotates backward, and bleeds to left heel air cushion; In the time that the pressure transducer at the bottom of left foot shows that pressure reaches minima, left foot motor braking.The Electric Machine Control of right crus of diaphragm similarly.
More preferably, each branch road is equipped with motor driver, pressure transducer gauge tap, timer and timer gauge tap; Left heel branch road has been connected angular transducer gauge tap jointly with left foot ramus volaris profundus road, and right crus of diaphragm calcaneus branches road has been connected another angular transducer gauge tap jointly with right crus of diaphragm ramus volaris profundus road; Pressure transducer gauge tap is to record result and the switch of folding control according to pressure transducer; Timer gauge tap is according to the certain time-delay of timer shows and the switch of folding control; Angular transducer gauge tap is to record result and the switch of folding control according to angular transducer; Motor driver drive motors forward rotation, brake and rotate backward, thus the inflation of control cylinder with bleed.
The working method of dynamical system module of the present invention: the rotating shaft of motor drives screw mandrel to rotate, and the nut that makes to be arranged on screw mandrel does left and right rectilinear motion, and then driven plunger slurcam does left and right rectilinear motion; Because cylinder piston is fixed on piston slurcam, so the power of motor moves back and forth cylinder piston, final realization cylinder charge or the object of bleeding.
The dynamic mode of forefoot and rear heel when air mattrens shoes system of the present invention can be imitated walking.There is the patient of walking disorder in the time carrying out the gait training of loss of weight, can utilize this air mattrens shoes to make sole still can accept the Pressure stimulation in the normal walking process as born a heavy burden completely, promote walking-function rehabilitation.The present invention is by movement velocity and the direction of air-flow in Electric Machine Control cylinder, and then the change speed of the tolerance of the air cushion of control two of left and right air mattrens shoes sole and heel, final speed and the size of having controlled accurately foot force stimulation, for patient's gait rehabilitation training provides assosting effect.
Compared with prior art, the present invention has following beneficial effect:
In the present invention, shoe support module effectively supports to the patient of the ability of independently not standing, lift system module allows patient feel comfortable, pressure size and the change speed of sole and heel can be effectively controlled in the combination of dynamical system module and control system module, and can imitate the suffered dynamic pressure of sole in gait processes stimulates; Be convenient to patient in the time utilizing the training of loss of weight gait training device, the Pressure stimulation of sole in normal gait process is provided to sole, thereby improve training effectiveness, promote rehabilitation efficacy, rehabilitation appliances are of great significance at the application tool of medical domain.
Brief description of the drawings
By reading the detailed description of non-limiting example being done with reference to the following drawings, it is more obvious that other features, objects and advantages of the present invention will become:
Fig. 1 is the overall structure schematic diagram of the rehabilitation air mattrens shoes of imitation walking dynamic mode of the present invention;
Fig. 2 is the structural representation of the shoe support module shown in Fig. 1;
Fig. 3 is the structural representation of the lift system module shown in Fig. 1;
Fig. 4 is the structural representation of the dynamical system module shown in Fig. 1;
Fig. 5 is the control schematic diagram of the control system module shown in Fig. 1;
In figure:
Shoe support module 1, lift system module 2, dynamical system module 3, control system module 4;
Toe gripper shoe 10, sole gripper shoe 11, heel gripper shoe 12, leg fixing frame 13, ankle joint fixing head 14, air cushion fixing head 15, gripper shoe rotating shaft 16, gripper shoe connecting rod 17, angular transducer 18, pressure transducer 19, bandage fixing hole 110, wheel 111;
Air cushion 20, breather 21, cylinder gas outlet 22, cylinder 23, tail cylinder fixing head 24, cylinder head fixing head 25, cylinder piston 26, piston slurcam 27;
Motor 30, motor fixing plate 31, shaft coupling 32, screw mandrel 33, nut 34, guide rod 35, screw rod fixing plate 36;
Motor driver 40, pressure transducer gauge tap 41, timer 42, timer gauge tap 43.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art further to understand the present invention, but not limit in any form the present invention.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, can also make some distortion and improvement.These all belong to protection scope of the present invention.
As shown in Figure 1, the present embodiment provides a kind of rehabilitation air mattrens shoes that imitates walking dynamic mode, comprise: shoe support module 1, lift system module 2, dynamical system module 3, control system module 4, wherein: lift system module 2 is fixed in the sole gripper shoe 11 and heel gripper shoe 12 in shoe support module 1 by the air cushion 20 arranging; Motor 30 in dynamical system module 3 is arranged on the cylinder head fixing head 25 in lift system module 2 by the motor fixing plate 31 arranging, and according to the signal of control system module 4, promote the cylinder piston 26 in lift system module 2, realize the inflation of cylinder 23 in lift system module 2 and bleed, thereby the sole gripper shoe 11 in control shoe support module 1 and pressure size and the stimulation rate in heel gripper shoe 12, foot force stimulation when final as normal walking.
As shown in Figure 2, in a preferred embodiment of the present invention, described shoe support module 1 comprises: toe gripper shoe 10, sole gripper shoe 11, heel gripper shoe 12, leg fixing frame 13, ankle joint fixing head 14, air cushion fixing head 15, gripper shoe rotating shaft 16, gripper shoe connecting rod 17, angular transducer 18, pressure transducer 19, bandage fixing hole 110 and wheel 111, wherein: toe gripper shoe 10 is connected with sole gripper shoe 11 by gripper shoe rotating shaft 16; Sole gripper shoe 11 is connected by gripper shoe connecting rod 17 with heel gripper shoe 12, and can regulate the total length of shoes by gripper shoe connecting rod 17; The rear portion of heel gripper shoe 12 is provided with leg fixing frame 13, two outsides, middle part are all provided with ankle joint fixing head 14; The both sides of sole gripper shoe 11 and heel gripper shoe 12 are all provided with air cushion fixing head 15, so that the air cushion 20 in fixed air mattress system module 2; Angular transducer 18 is fixed on gripper shoe rotating shaft 16, in order to record rotational angle; A pressure transducer 19 is respectively installed, for recording the pressure on sole in sole gripper shoe 11 and heel gripper shoe 12; Bandage fixing hole 110 is positioned at the both sides of sole gripper shoe 11; 6 wheels 111 are installed altogether, convenient rolling before and after shoes.
As shown in Figure 3, in a preferred embodiment of the present invention, described lift system module 2 comprises: air cushion 20, breather 21, cylinder gas outlet 22, cylinder 23, tail cylinder fixing head 24, cylinder head fixing head 25, cylinder piston 26 and piston slurcam 27, wherein: in four air cushions 20 (two footwear, on every footwear each two) are arranged on respectively left and right footwear sole gripper shoe 11 by air cushion fixing head 15 and heel gripper shoe 12; Four air cushions 20 are connected respectively on four cylinder gas outlets 22 by four breathers 21; Four cylinders 23 are spacing by a tail cylinder fixing head 24 and a cylinder head fixing head 25 respectively; The head end of four cylinders 23 connects respectively a cylinder piston 26, and the top of each cylinder piston 26 connects respectively a piston slurcam 27.
As shown in Figure 4, in another preferred embodiment of the present invention, described dynamical system module 3 comprises: motor 30, motor fixing plate 31, shaft coupling 32, screw mandrel 33, nut 34, guide rod 35 and screw rod fixing plate 36, wherein: motor 30 is spacing by motor fixing plate 31 implementation spaces; Shaft coupling 32 one end are connected with the output shaft of motor 30, the other end is connected with screw mandrel 33, thereby realize rotatablely moving of screw mandrel 33; One end of screw mandrel 33 is fixed on cylinder head fixing head 25, the other end is fixed on screw rod fixing plate 36; Nut 34 on screw mandrel 33 is fixed on piston slurcam 27; Four guide rods 35 are separately fixed on cylinder head fixing head 25 and screw rod fixing plate 36 through piston slurcam 27, two ends.
In the present embodiment, described in a pair of, rehabilitation air mattrens shoes is provided with the dynamical system module 3 described in quadruplet altogether, comprise altogether four motors 30, four motor fixing plates 31, four shaft couplings 32, four rhizoid bars 33, four nuts 34 and ten six roots of sensation guide rods 35, above-mentioned building block is all fixed between a cylinder head fixing head 25 and a screw rod fixing plate 36.
In the present embodiment, the working method of described dynamical system module 3: the rotating shaft of motor 30 drives screw mandrel 33 to rotate, and makes the nut 34 on screw mandrel 33 do left and right rectilinear motion, and then driven plunger slurcam 27 does left and right rectilinear motion; Because cylinder piston 26 is fixed on piston slurcam 27, so the power of motor 30 moves back and forth cylinder piston 26, the final object that cylinder 23 is inflated or bled that realizes.
As shown in Figure 5, in a preferred embodiment more of the present invention, described control system module 4 comprises four branch roads: left heel branch road, left foot ramus volaris profundus road, right crus of diaphragm calcaneus branches road and right crus of diaphragm ramus volaris profundus road; Each branch road all comprises motor driver 40, pressure transducer gauge tap 41, timer 42 and timer gauge tap 43.In addition, left heel branch road and left foot ramus volaris profundus road are connected with an angular transducer gauge tap 44 jointly, and right crus of diaphragm calcaneus branches road and right crus of diaphragm ramus volaris profundus road are also connected with another angular transducer gauge tap 44 jointly.Pressure transducer gauge tap 41 is to record result and the switch of folding control according to pressure transducer 19; Timer gauge tap 43 is according to the certain time-delay of timer shows and the switch motor of folding control; Angular transducer gauge tap 44 is to record result and the switch of folding control according to angular transducer 18; Motor driver 40 is according to the result that records of pressure transducer 19, angular transducer 18 and timer 42, gives respectively 30 3 kinds of motor messages of motor: forward rotation, brake and rotate backward.
In the present embodiment, the duty of described control system module 4 is as follows:
Start after ambulation training, be greater than 5 and (represent that right crus of diaphragm is experiencing heel lift process while spending when right crus of diaphragm angular transducer 18 takes measurement of an angle, left foot enters to be stepped on the ground stage), angular transducer gauge tap 44 in left heel branch road is connected, the timer 42 of left heel starts writing time, the timer gauge tap 43 of left heel branch road is connected, and the motor driver 40 in left heel branch road is given motor 30 the first signals: be rotated in the forward.The air cushion 20 that motor 30 connects is inflated, thereby left heel has Pressure stimulation.
In the time that timer 42 arrives the gait cycle of predetermined time time delay 10%, the timer gauge tap 43 on left foot ramus volaris profundus road is connected, and left foot ramus volaris profundus road is connected, and the motor driver 40 in left foot ramus volaris profundus road is given motor 30 the first signals: be rotated in the forward.The air cushion 20 that motor 30 connects is inflated, thereby the left foot palm has Pressure stimulation.
After the pressure transducer 19 that the air cushion on left heel support connects has reached predetermined maximum pressure value, the motor driver 40 in left heel branch road is given motor 30 the second signals: braking.Motor 30 remains on and rotates institute and reach position, keep the constant pressure of 20 li, air cushion on left heel support, and the timer 42 of left heel branch road stops timing.
After the pressure transducer 19 that the air cushion on left foot ramus volaris profundus frame connects has reached predetermined maximum pressure value, the motor driver 40 in left foot ramus volaris profundus road is given motor 30 the second signals: braking.Motor 30 remains on and rotates institute and reach position, keep the constant pressure of 20 li, air cushion on left foot ramus volaris profundus frame, and the timer 42 on left foot ramus volaris profundus road stops timing.
When left foot angular transducer 18 registrations are greater than 5 while spending (represent left heel is experiencing lift liftoff action), the angular transducer gauge tap 44 of left heel branch road is connected, the timer 42 of left heel branch road starts writing time, the timer gauge tap 43 of left heel branch road is connected, and now the motor driver 40 of left heel branch road is given motor 30 the third signals: rotate backward; The cylinder 23 connecting is bled, and air cushion 20 pressure reduce.
In the time that the timer 42 on left foot ramus volaris profundus road arrives the gait cycle of predetermined time time delay 10%, the timer gauge tap 43 on left foot ramus volaris profundus road is connected, and the motor driver 40 on left foot ramus volaris profundus road is given motor 30 the third signals: rotate backward; The cylinder 23 connecting is bled, and air cushion 20 pressure reduce.
After the pressure transducer 19 that the air cushion on left heel support connects has reached predetermined minimum pressure values, the motor driver 40 in left heel branch road is given motor 30 the second signals: braking.Motor 30 remains on and rotates institute and reach position, keeps the constant pressure of 20 li, air cushion on left heel support, and timer 42 on left heel branch road stops timing.
After the pressure transducer 19 that the air cushion on left foot ramus volaris profundus frame connects has reached predetermined minimum pressure values, the motor driver 40 in left foot ramus volaris profundus road is given motor 30 the second signals: braking.Motor 30 remains on and rotates institute and reach position, keeps the constant pressure of 20 li, air cushion on left foot ramus volaris profundus frame, and timer 42 on left foot ramus volaris profundus road stops timing.
Be greater than 5 while spending when right crus of diaphragm angular transducer 18 takes measurement of an angle, illustrate that next gait cycle starts, the motor driver of left foot two branch roads is according to the mode of foregoing description, loop control motor 30, thus realize Pressure stimulation intensity and the speed at the bottom of left foot.
Accordingly, right crus of diaphragm two branch road control modes are similar to the mode of left foot two branch roads.Be greater than 5 and (represent that left foot is experiencing heel and lifting process while spending when left foot angular transducer 18 takes measurement of an angle, right crus of diaphragm enters to be stepped on the ground stage), angular transducer gauge tap 44 in right crus of diaphragm calcaneus branches road is connected, the timer 42 that right crus of diaphragm is followed starts writing time, the timer gauge tap 43 on right crus of diaphragm calcaneus branches road is connected, and the motor driver 40 in right crus of diaphragm calcaneus branches road is given motor 30 the first signals: be rotated in the forward.Right crus of diaphragm calcaneus branches road is identical with the pressure control between above-mentioned left heel branch road and left foot ramus volaris profundus road with the pressure control between right crus of diaphragm ramus volaris profundus road.So circulate, realize the Pressure stimulation of continuous gait cycle.
When the present embodiment uses, first measure length and the width dimensions of patient's foot, and regulate the distance that is connected between sole gripper shoe 11 that shoe support module 1 arranges and heel gripper shoe 12, make the total length of shoes meet patient's use size; Then patient is using after loss of weight gait training device, puts on described rehabilitation air mattrens shoes; Patient's sole and heel are placed on the air cushion 20 being fixed in sole gripper shoe 11 and heel gripper shoe 12, ankle joint aligns with the ankle joint fixing head 14 of rehabilitative shoe, front toe rotary joint aligns with the gripper shoe rotating shaft 16 of rehabilitative shoe, and patient's foot is fixed by bandage.Start control system module 4, when patient starts after gait training, motor 30 in dynamical system module 3 can promote the cylinder piston 26 in lift system module 2, big or small adjustable, Pressure stimulation that speed is controlled, that imitate walking dynamic mode is provided finally to patient vola.
The present embodiment is by movement velocity and the direction of air-flow in four cylinders of four Electric Machine Control, and then the tolerance of controlling the air cushion of two the rehabilitation air mattrens shoes in left and right changes speed, speed and size that final control pin bottom pressure accurately stimulates, for patient's gait rehabilitation training provides assosting effect.
Above specific embodiments of the invention are described.It will be appreciated that, the present invention is not limited to above-mentioned specific implementations, and those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (9)
1. a rehabilitation air mattrens shoes that imitates walking dynamic mode, is characterized in that, comprises shoe support module, lift system module, dynamical system module and control system module, wherein:
Shoe support module, for supporting the bottom surface of whole foot;
Lift system module, for providing the pneumatic element of Pressure stimulation to sole and heel;
Control system module, this module, according to the movement angle information of shoe support module, is sent and is controlled the pressure size of shoe support module and the signal of stimulation rate;
Dynamical system module, the signal that this module is sent according to control system module is accurately controlled pressure size and the stimulation rate that in shoe support module, lift system module produces, and the foot force while finally reaching as normal walking stimulates.
2. a kind of rehabilitation air mattrens shoes that imitates walking dynamic mode according to claim 1, is characterized in that:
Described shoe support module includes sole gripper shoe and heel gripper shoe; Described lift system module includes air cushion, cylinder and cylinder head fixing head; In the sole gripper shoe of described shoe support module and heel gripper shoe, keeping flat respectively the air cushion in lift system module;
Described dynamical system module is provided with motor, this motor is arranged on the cylinder head fixing head in lift system module, and according to the signal of control system module, promote the cylinder piston in lift system module, realize the inflation of cylinder and bleed, finally reaching Pressure stimulation size and Pressure stimulation speed in sole gripper shoe and the heel gripper shoe of controlling shoe support module.
3. a kind of rehabilitation air mattrens shoes that imitates walking dynamic mode according to claim 2, it is characterized in that, described shoe support module also comprises: toe gripper shoe, leg fixing frame, ankle joint fixing head, air cushion fixing head, gripper shoe rotating shaft, gripper shoe connecting rod, angular transducer, pressure transducer, wherein: toe gripper shoe is connected with sole gripper shoe by gripper shoe rotating shaft; Sole gripper shoe is connected with heel gripper shoe by gripper shoe connecting rod, and regulates the total length of rehabilitation air mattrens shoes by gripper shoe connecting rod; The rear portion of heel gripper shoe is provided with leg fixing frame, middle part two outer fixs are separately installed with ankle joint fixing head; Be respectively arranged with the air cushion fixing head for fixing air cushion in the both sides of sole gripper shoe and heel gripper shoe; On gripper shoe rotating shaft, be provided with to record the angular transducer of rotational angle; In sole gripper shoe and heel gripper shoe, be respectively provided with one for recording the pressure transducer of sole upward pressure.
4. a kind of rehabilitation air mattrens shoes that imitates walking dynamic mode according to claim 2, it is characterized in that, described lift system module also comprises: breather, cylinder gas outlet, tail cylinder fixing head, cylinder piston and piston slurcam, wherein: one end of breather connects air cushion, the other end is connected on cylinder gas outlet; Cylinder is spacing by tail cylinder fixing head and cylinder head fixing head; The head end of cylinder connects cylinder piston; The top of cylinder piston connects piston slurcam.
5. a kind of rehabilitation air mattrens shoes that imitates walking dynamic mode according to claim 4, it is characterized in that, described dynamical system module also comprises: motor fixing plate, shaft coupling, screw mandrel and screw rod fixing plate, wherein: motor is spacing by motor fixing plate implementation space; One end of shaft coupling is connected with the output shaft of motor, the other end is connected with screw mandrel, realizes rotatablely moving of screw mandrel; One end of screw mandrel is fixed on cylinder head fixing head, the other end is fixed on screw rod fixing plate, and described screw mandrel is fixed on the piston slurcam of lift system module.
6. a kind of rehabilitation air mattrens shoes that imitates walking dynamic mode according to claim 5, it is characterized in that, described dynamical system module also comprises: guide rod, and guide rod is through piston slurcam, and two ends are separately fixed on the cylinder head fixing head and screw rod fixing plate in lift system module.
7. a kind of rehabilitation air mattrens shoes that imitates walking dynamic mode according to claim 6, it is characterized in that, motor, motor fixing plate, shaft coupling, screw mandrel and guide rod in a described dynamical system module, be all fixed between a cylinder head fixing head and a screw rod fixing plate.
8. a kind of rehabilitation air mattrens shoes that imitates walking dynamic mode according to claim 3, it is characterized in that, described control system module comprises four branch roads, respectively: left heel branch road, left foot ramus volaris profundus road, right crus of diaphragm calcaneus branches road and right crus of diaphragm ramus volaris profundus road, each branch road is according to the result that records of pressure transducer and angular transducer, gives respectively three kinds of motor messages of motor: forward rotation, brake and rotate backward.
9. a kind of rehabilitation air mattrens shoes that imitates walking dynamic mode according to claim 8, is characterized in that, each branch road is equipped with motor driver, pressure transducer gauge tap, timer and timer gauge tap; Left heel branch road has been connected angular transducer gauge tap jointly with left foot ramus volaris profundus road, and right crus of diaphragm calcaneus branches road has been connected another angular transducer gauge tap jointly with right crus of diaphragm ramus volaris profundus road; Pressure transducer gauge tap records result and the switch of folding control according to pressure transducer; Timer gauge tap is according to the certain time-delay of timer shows and the switch of folding control; Angular transducer gauge tap is to record result and the switch of folding control according to angular transducer; Motor driver drive electrode forward rotation, brake and rotate backward, thus the inflation of control cylinder with bleed.
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| CN111417327A (en) * | 2017-10-13 | 2020-07-14 | 耐克创新有限合伙公司 | Footwear midsole with electro-rheological fluid housing |
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| CN115531797A (en) * | 2022-08-11 | 2022-12-30 | 湖北人来康复设备制造有限公司 | Weight-reducing self-adaptive gait training method |
| US11576464B2 (en) | 2017-08-31 | 2023-02-14 | Nike, Inc. | Footwear including an incline adjuster |
| CN115944898A (en) * | 2023-03-03 | 2023-04-11 | 福建农林大学 | Semi-automatic tree climbing machine and use method |
| US11666116B2 (en) | 2017-08-31 | 2023-06-06 | Nike, Inc. | Incline adjuster with multiple discrete chambers |
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| US11096445B2 (en) | 2015-05-29 | 2021-08-24 | Nike, Inc. | Footwear including an incline adjuster |
| US11925235B2 (en) | 2015-11-30 | 2024-03-12 | Nike, Inc. | Electrorheological fluid structure with attached conductor and method of fabrication |
| US11576464B2 (en) | 2017-08-31 | 2023-02-14 | Nike, Inc. | Footwear including an incline adjuster |
| US11666116B2 (en) | 2017-08-31 | 2023-06-06 | Nike, Inc. | Incline adjuster with multiple discrete chambers |
| CN111417327A (en) * | 2017-10-13 | 2020-07-14 | 耐克创新有限合伙公司 | Footwear midsole with electro-rheological fluid housing |
| US11103027B2 (en) | 2017-10-13 | 2021-08-31 | Nike, Inc. | Footwear midsole with electrorheological fluid housing |
| US12053048B2 (en) | 2017-10-13 | 2024-08-06 | Nike, Inc. | Footwear midsole with electrorheological fluid housing |
| CN115531797A (en) * | 2022-08-11 | 2022-12-30 | 湖北人来康复设备制造有限公司 | Weight-reducing self-adaptive gait training method |
| CN115531797B (en) * | 2022-08-11 | 2023-09-22 | 湖北人来康复设备制造有限公司 | Weight-reducing self-adaptive gait training method |
| CN115944898A (en) * | 2023-03-03 | 2023-04-11 | 福建农林大学 | Semi-automatic tree climbing machine and use method |
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