Simple geometrical analysis for mechanizing the ankle joint stretching treatment procedure of a PT using a numerical calculation
Simple geometrical analysis for mechanizing the ankle joint stretching treatment procedure of a PT using a numerical calculation
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使用数值计算对 PT 踝关节拉伸治疗过程进行机械化的简单几何分析
DOI：
10.1299/jamdsm.2019jamdsm0034
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发表时间：
2019
期刊：
影响因子：
--
通讯作者：
Shin Sugihara
中科院分区：
文献类型：
--
作者：
H. Toda;Takeshi Matsumoto;Shin Sugihara
为了实现主要由物理治疗师（PT）进行的人体踝关节伸展治疗的机械化，采用一个简单的数值计算模型，分析了踝关节、髋关节、足底和推动装置旋转中心之间的几何关系，并在实际开发的系统中验证了该模型的有效性。踝关节的伸展是PT进行的一项重要医疗治疗，以帮助患者恢复行走能力并防止挛缩。由于踝关节治疗同时需要大量的力（等于受试者的体重）和精确的角度控制，因此PT的手动治疗尚未被机械治疗系统取代。在之前的研究中，我们开发了一种踝关节伸展的新机制，涉及固定受试者座椅和设备的长度;该新机制可以实现舒适的伸展而没有疼痛。然而，踝关节、髋关节、足底及推压装置旋转中心之间的最佳几何关系尚未分析。为了揭示拉伸处理的有效机理，采用数值计算的方法对拉伸处理的几何关系进行了数学分析，并根据计算结果制作了由两个力传感器和两个直流电机组成的处理装置，验证了数值计算的有效性。数值计算结果表明，PT踝关节治疗的关键点是踝关节与推进器旋转中心之间的位置。分析结果将有效地促进踝关节伸展治疗器械机械系统的发展。PT通过手动疗法对踝关节伸展进行治疗（图1）。手法治疗的优点是踝关节伸展力大（等于体重），避免了患者过度伸展。然而，手动治疗需要一次运动约20分钟，并且需要每天进行治疗，这使得手动治疗对PT的执行变得困难。典型的手动治疗包括以下步骤：1）PT用PT的手掌握住患者的脚跟，以及2）PT经由PT的前臂推动患者的脚底。这种疗法可以有效地伸展相关的肌肉和肌腱，即小腿和大腿的肌肉和跟腱。如图2所示，在踝关节伸展过程中，患者的脚向上伸展（福井，2010; Kakurai，1994）。当使上述踝关节伸展过程机械化时，重要的是考虑实现足部伸展过程。足部蹬踏过程包括使用PT鞋底的推力来向上移动足部，同时拉伸肌肉和肌腱。重要的是确保机械化足部伸展方法不会对受试者造成疼痛。
In this paper, to mechanize a human ankle joint stretching treatment that is mainly performed by a PT (Physical Therapist), the geometrical relationships among the Ankle joint, Hip joint, Sole, and pushing device rotation center are analyzed using a simple numerical calculation model, and the e ff ectiveness of the model was examined in an actual developed system. The stretching of the ankle joint is an important medical treatment that PTs perform to help their patients to recover their ability to walk and to prevent contracture. Because the ankle joint treatment requires a large amount of force (equal to the subject’s weight) and precise angle control at the same time, manual treatment by PTs has not been replaced by mechanical treatment systems. In a previous study, we developed a new mechanism of ankle joint stretching that involves fixing the length of the subject sitting chair and the device; the novel mechanism can realize comfortable stretching without pain. However, the optimum geometrical relationships among the Ankle joint, Hip joint, Sole, and pushing device rotation center have not been analyzed. In this paper, to develop the e ff ective mechanism of the stretching treatment, the geometrical relationships were analyzed mathematically by using numerical calculation, and the e ff ectiveness of the numerical calculation was confirmed by manufacturing a treatment device comprising two force sensors and two DC motors based on the calculation results. Numerical calculation results show that the PT’s key point of the ankle joint treatment was a position located between the Ankle joint and the pushing device rotation center. The analytical result will e ff ectively promote the development of the mechanical systems used as ankle joint stretching treatment devices. The PT performs treatment on the ankle joint stretching by a manual therapy (Fig. 1). The manual therapy has advantages of ankle joint stretching by a large force (equal to the body weight), and it can avoid the over-stretching of the patient. However, manual therapy requires approximately 20 minutes of exercise at one time, and daily treatment is necessary, making the performance of manual therapy di ffi cult for the PT. Typical manual therapy involves the following steps: 1) the PT holds the patient’s heel with the PT ’ s palm and 2) the PT pushes the Sole of the patient’s foot via the PT’s forearm. This therapy can e ff ectively stretch the relevant muscles and tendon, namely, the muscles of the calf and the thigh and the Achilles tendon. As shown in Fig. 2, the patient foot floats upward during the ankle joint stretching (Fukui, 2010; Kakurai, 1994). It is important to consider realization of the foot floating process when mechanizing the above-described ankle joint stretching process. The foot floating process involves the use of the pushing force of the PT’s sole to move the foot upward while stretching the muscles and tendon. It is important to ensure the mechanized foot stretching approach is not painful to the subject.
距骨水平运动的踝关节推动机构的实验研究
影响因子：
1.1
作者：
Hideki Toda;Takeshi Matsumoto;Hiroya Takeuchi
通讯作者：
Hiroya Takeuchi
步行辅助装置作为下一代车辆和可移动神经康复训练装置
影响因子：
1.1
作者：
Eiichirou Tanaka;Tadaaki Ikehara;Hirokazu Yusa;Yusuke Sato;Tomohiro Sakurai;Shozo Saegusa;Kazuhisa Ito;Louis Yuge
通讯作者：
Louis Yuge
使用支架结构稳定踝关节位置的踝关节推动机构
DOI：
--
发表时间：
2016
期刊：
Journal of Advanced Mechanical Design, Systems, and Manufacturing
影响因子：
--
作者：
Hideki Toda;Takeshi Matsumoto;Ryota Tanizaki;Takehiro Imaeda
通讯作者：
Takehiro Imaeda