Parallel joint walking-aid exoskeleton artificial limb suitable for paralytic patient

Abstract

The invention relates to a parallel, joint-type and walk-help ectoskeleton artificial limb applicable to paralytic, which pertains to a rehabilitation engineering technical field and comprises a hip joint, a knee joint and an ankle joint which are connected in sequence to form the ectoskeleton artificial limb structure of human crura. The hip joint comprises a single-degree-of-freedom drive mechanism and a harmonic reducer with a larger drive ratio which can output high torque; the knee joint adopts a four-bar mechanism, worm wheel, a worm and gear mechanism to realize transmission; flection of the ectoskeleton artificial limb is kept by taking advantage of the self-locking property of the worm wheel and worm and simultaneously, the worm wheel and worm can deliver larger torque; the ankle joint adopts a 3-RPS parallel mechanism with three degrees of freedom, which comprises an upper platform, three active branched guide rods, a lower platform and a thenar support part so as to realize dorsiflexion, plantar flexion, inversion and eversion. The artificial limb of the invention has compact structure, large slew range for every joint and can meet the requirements of actual movements of human body.

Description

technical field [0001] The invention relates to a device in the technical field of rehabilitation engineering, in particular to a parallel joint walking-assisting exoskeleton prosthesis suitable for paralyzed patients. Background technique [0002] In recent years, the number of physically disabled persons due to accidents or diseases, population aging, etc. has increased year by year. The health problems of the disabled have been widely concerned by the whole society. Currently, crutches, wheelchairs, and prosthetics are used as medical tools for rehabilitation training for patients with lower limb paralysis. These three types are passive rehabilitation equipment, which are inconvenient for patients to use and require the help of other people. To install a prosthesis on a patient requires amputation first. , Many patients are psychologically difficult to accept. After wearing prostheses, they still face limitations such as human adaptability and service life of the prosthe...

AI Technical Summary

Problems solved by technology

However, in the existing exoskeleton prostheses at home and abroad, usually only a single joint is designed, the range of motion of the mechanism is small, the driving control method is relatively simple, and there are problems such as insufficient rigidity and low load capacity.

[0004] 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 exoskeleton mechanism, ankle four-bar mechanism and foot support are sequentially connected in series, and the mechanism is driven by a hydraulic cylinder. Each joint of the exoskeleton mechanism has a single degree of freedom. , a hydraulic source is required, the control precision of the mechanism is not high, and the rigidity is insufficient

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