Parallel type multi-freedom artificial limb exoskeleton ankle joint

A degree of freedom, parallel technology, applied in the field of rehabilitation engineering, can solve the problems of difficult to achieve stable control, low positioning accuracy of the mechanism, etc., and achieve the effect of facilitating real-time calculation and control, avoiding error accumulation and amplification effects, and high stiffness.

Inactive Publication Date: 2009-11-11
JIANGSU MASLECH MEDICAL TECH
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  • Abstract
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Problems solved by technology

[0005] After searching the existing technical literature, it is found that the Chinese invention patent application number is 200410053695.6, and the patent name is "a wearable lower extremity walking exoskeleton". The rod mechanism, ankle four-bar mechanism and foot support are connected in series, all of which are driven by hydraulic cylinders. It is inevitable that the serial exoskeleton mechanism has many shortcomings of the above analysis. , the positioning accuracy of the mechanism is not high, and it is difficult to meet the requirements of stable control in practical applications

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  • Parallel type multi-freedom artificial limb exoskeleton ankle joint
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  • Parallel type multi-freedom artificial limb exoskeleton ankle joint

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Embodiment Construction

[0023] The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings: this embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following the described embodiment.

[0024] In this embodiment, the 3-RPS structure configuration is selected, and the schematic diagram of the 3-RPS structure is as follows figure 1 As shown, the three points on the static platform 1 are A 1 、A 2 、A 3 , the three points on the moving platform 2 are respectively a 1 、a 2 、a 3 , the three revolving pairs of static platform 1 are The lengths of the three driving rods are L 1 , L 2 , L 3 , the three kinematic pairs of the dynamic platform 2 and the static platform 1 form two isosceles triangles respectively. For the driving rod of a single branch c...

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Abstract

A parallel multi -free resignation exoskeleton and ankle joint in the field of rehabilitation engineering technology, including: foot support board, imitation human leg jacket, upper platform, lower platform, first active branch chain guide rod, second active branch chain guide guideThe rod and the third active branched chain guide rod, of which: one end of the first active branch chain guide rod is connected to the upper platform activity, the other end is connected to the lower platform activity, and the second active branch chain guide rod is connected to the upper platform activity.The other end is connected to the lower platform activity. One end of the third active chain guide rod is connected to the upper platform activity, and the other end is connected to the lower platform activity.The coat is fixed with the upper platform.The invention agency is rigid, the structure is simple, and the stability is good; the requirements of the human ankle and flexibility are met.

Description

technical field [0001] The invention relates to a device in the technical field of rehabilitation engineering, in particular to a parallel multi-free artificial limb exoskeleton ankle joint. Background technique [0002] In recent years, the number of physically disabled persons due to accidents such as traffic accidents, sports accidents, industrial injuries, wars and population aging has been increasing year by year. In the process of building a harmonious society, the physical and mental health of the disabled has received widespread attention from the whole society. At present, there are many types of medical equipment for rehabilitation training for patients. For patients with lower limb disabilities and paralysis, traditional rehabilitation tools include crutches, wheelchairs and artificial limbs. These three types are passive rehabilitation equipment, which are not convenient for patients to use, and sometimes they need help from other people. Artificial limbs have al...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61F2/66A61H1/00A61H3/00
Inventor 殷跃红范渊杰郭朝曹志印松
Owner JIANGSU MASLECH MEDICAL TECH
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