Bidirectional flexible knee-joint active-passive rehabilitation training device

Abstract

The invention discloses a bidirectional flexible knee-joint active-passive rehabilitation training device, which comprises a linear driving unit, a lower limb support unit and a control unit, wherein the linear driving unit comprises a bottom plate, a rodless cylinder, a sliding table of the rodless cylinder, a first inflation-elongated pneumatic flexible driver, a second inflation-elongated pneumatic flexible driver, a guide rod, a fixed support, a connecting piece, a movable support and a sliding pair; the lower limb support unit comprises thigh rods, a thigh supporting plate, leg rods, a leg supporting plate, a foot support, a connecting rod, T-shaped connecting pieces, L-shaped rods, a first adjusting device and a second adjusting device; and the control unit comprises an angular displacement sensor, a force sensor, a displacement sensor and a controller. The device can realize various knee joint rehabilitation training modes such as passive training and active training conveniently according to the rehabilitation condition of patients. And the applied forces (including a driving force driving a wounded knee to move in a passive training and a training damping force set in an active training) as well as training angles can be adjusted in a stepless manner.

Description

technical field [0001] The invention belongs to a joint rehabilitation training device that can be used for rehabilitation training of patients with knee joint injuries after surgery, in particular a two-way flexible knee joint active-passive rehabilitation training device. Background technique [0002] The knee joint is an important joint in the human body that undertakes support and movement functions. If the knee joint cannot be effectively exercised in time during the rehabilitation period after injury or medical operation, it is very easy to cause adhesion and muscle atrophy in the knee joint, thereby greatly limiting the movement ability of the knee joint, and even causing serious joint damage. Permanent loss of function. Therefore, modern rehabilitation medicine believes that moderate and effective rehabilitation exercises for the knee joint in time after the operation play a very important role in restoring the function of the knee joint. [0003] At present, there...

AI Technical Summary

Problems solved by technology

For example: Chinese patent 200910031938.9 proposes a dual-axis active and passive upper and lower limb rehabilitation training mechanism. The magnetorheological damper can provide the damping force in the active rehabilitation training, realize the active training of the joints, and solve the different stages of rehabilitation training. Different requirements for active-passive training, but it still uses the motor as the power source for rehabilitation training, and still does not avoid the rigid structure of the motor + mechanical transmission mechanism, so there is still the problem of poor safety; Chinese patent 200410077721.9 proposes a method using The pneumatic lower limb rehabilitation device of the Mckibben type pneumatic muscle utilizes the flexibility of the pneumatic muscle, which makes the rehabilitation device more flexible and safe. However, this rehabilitation device can only perform passive training for patients. Inability to meet active training requirements

At the same time, due to the short effective stroke of the Mckibben-type pneumatic muscle, the training angle provided by the rehabilitation training device is small, and it is impossible to realize the large-angle movement in the knee joint rehabilitation training.

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