Lower limbs rehabilitation training robot
A technology of rehabilitation training and robotics, which is applied in the field of robotics for medical rehabilitation training, can solve problems such as unfavorable promotion of rehabilitation training technology, failure to meet practical applications, and single function, and achieve high training efficiency, compact structure, and improved efficiency.
Inactive Publication Date: 2011-11-09
HEBEI UNIV OF TECH
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Problems solved by technology
[0007] In the existing technology of these lower limb rehabilitation robots, there are common defects: bulky, too heavy, and single function, expensive, can not meet the needs of practical applications, and is not conducive to the promotion of rehabilitation training technology
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[0020] Describe the present invention in detail below in conjunction with embodiment and accompanying drawing.
[0021] Lower limb rehabilitation training robot of the present invention (abbreviation robot, see Figure 1-7 ) includes two parts: an exoskeleton-type lower limb mechanical structure and a control system independent of the mechanical structure.
[0022] Described exoskeleton type lower limb mechanical structure (referring to figure 1 ) adopts an anthropomorphic design, and the mechanical structure of the robot includes a waist structure and left and right symmetrical thigh structures and lower leg structures that are mechanically connected to it.
[0023] The waist structure and the left-right symmetrical thigh structure and calf structure of the robot embodiment of the present invention can be adjusted according to the body shape and height of the person, and can be worn by people with a height of 145cm to 190cm and a waist circumference of 50cm to 120cm. The wa...
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The invention discloses a lower limbs rehabilitation training robot, which comprises an exoskeletal mechanical structure and a control system independent of the mechanical structure, wherein the exoskeletal mechanical structure comprises thigh mechanisms and shank mechanisms, which are bilaterally symmetrical and connected with a waist mechanism in turn; imitation human hip joints are arranged atthe connection part of the waist mechanism and the thigh mechanisms; imitation knee joints are arranged between the connection parts of the thigh mechanisms and the shank mechanisms; the waist mechanism comprises a waist part connecting plate and flexible connecting plates which are connected with the waist part connecting plate in a bilateral symmetrical manner; the waist mechanism, the left andright thigh mechanisms and the left and right shank mechanisms are provided with flexible connecting bands for connecting the corresponding parts of a human body with the robot; the control system isindependent of the mechanism of the robot and is connected with the robot body through data wires for controlling rehabilitation training; and the control system comprises hardware and software, the soft ware comprises a user module, a real-time control module and a rehabilitation effect evaluation module.
Description
technical field [0001] The invention relates to robot technology for medical rehabilitation training, in particular to a lower limb rehabilitation training robot for patients with inconvenient movement of lower limbs caused by cerebral apoplexy or spinal central nerve injury. Background technique [0002] With the sustained and rapid economic development and the reduction of the birth rate, my country has entered an aging population society. There are a large number of patients with cerebrovascular diseases in the elderly population. In recent years, the number of elderly people suffering from cerebrovascular diseases suffering from stroke has been increasing, and it is showing a younger trend. According to statistics, there are 2 million stroke patients in my country every year, and about 6 million to 7 million stroke patients are surviving. Among them, 4.5 million patients cannot take care of themselves, especially the loss of lower limb exercise ability brings great inco...
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IPC IPC(8): A61H1/02
Inventor 刘更谦孔祥战张小俊高金莲孙建广
Owner HEBEI UNIV OF TECH