Robot for rehabilitation of anklebone

Abstract

The present invention relates to an anklebone healing robot, which comprises a mechanical part, a control part and a display part. The mechanical part comprises a pedestal and a movable platform. Three fork chains with the same structure and a central restricting rod with a central spherical pair are uniformly distributed and arranged between the pedestal and the movable platform in parallel. Each fork chain consists of a rotating pair, a lower spherical pair, a connecting rod and an upper spherical pair. The upper end of the central restricting rod is connected with the center of the movable platform by a spherical hinge. Three pieces of same bent plates are uniformly distributed and fixedly arranged at the pedestal. Three moment motors with same specification are respectively arranged at the three bent plates and are respectively in driving connection with the rotating pairs of the three fork chains. The movable platform is equipped with a footplate. A three-dimensional or six-dimensional force / moment sensor is arranged between the movable platform and the footplate. A shaft of the rotating pair is equipped with a position sensor. The control part comprises a computer and corresponding software, a multi-spindle movement control card and a driver. The software comprises a healing software realizing the interaction with the patient, and the healing software comprises three subsystems of healing exercise, information feedback and function evaluation.

Description

technical field [0001] The present invention relates to a kind of human body rehabilitation apparatus, specifically a kind of rehabilitation apparatus that can realize patient's ankle joint to do rehabilitation exercise automatically, named ankle joint rehabilitation robot, the international patent classification number is intended to be Int.Cl.A61H 1 / 00 ​​( 2006.01). Background technique [0002] Mr. Girone of Rutger University in the United States and his colleagues have developed a device for orthopedic rehabilitation using the Rutger ankle interface, which can be used to help patients with ankle muscle injuries perform rehabilitation training (see Gironi et al. , Orthopedic Rehabilitation Using the “Rutgers Ankle” Interface[A].Proc.ofMedicine Meets Virtual Reality 2000 [C]. IOS Press, pp.89-95, January 2000.). The device is based on the Stewart platform and uses a pneumatic servo mechanism to enable the moving platform to move in six degrees of freedom. The ankle has a...

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Problems solved by technology

But this scheme also has the disadvantage that it is difficult to drive the mobile pair P to realize motion, and there is no report on the specific technology of this scheme.

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