Flexible active and passive knee-joint rehabilitation training device

Abstract

The invention discloses a flexible active and passive knee-joint rehabilitation training device, comprising a linear drive unit, a leg bracket unit and a control unit, wherein, the linear drive unit comprises a baseboard, a rodless cylinder, a sliding table for the rodless cylinder, an inflatable extendible flexible driver, a guide rod, a spring, a fixed support, a connecting piece, a removable bracket and a sliding pair; the leg bracket unit comprises a thigh rod, a thigh supporting board, a shank rod, a shank supporting board, a feet bracket, a connecting rod, a T-type connecting piece, a L-type rod, a first regulating device and a second regulating device; and the control unit comprises an angular displacement sensor, a force sensor, a displacement sensor and a controller. The training device can conveniently achieve a plurality of rehabilitation training modes such as knee-joint passive training, active training and the like according to the rehabilitation degree of a patient, and an applying force (including a driving force in the passive training and a damping force in the active training) is regulated in a stepless manner.

Description

technical field [0001] The invention belongs to joint rehabilitation training technology applicable to rehabilitation training for knee joint injury patients after operation, in particular to a compliant active and passive knee joint 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 will easily cause adhesion and muscle atrophy of the knee joint, which will greatly limit the knee joint's ability to move, and even cause joint damage. Permanent loss of some 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 are many patent applica...

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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