Parallel multi-degree-of-freedom ankle joint rehabilitation trainer

Abstract

The invention relates to a parallel multi-degree-of-freedom ankle joint rehabilitation trainer which comprises a thigh support seat, a thigh support seat inner rod, a thigh support seat outer rod, a calf jointing sleeve, a pelma supporting plate, a base plate, a first kinematics limb, a second kinematics limb and a third kinematics limb, wherein the lengths of the first kinematics limb, the second kinematics limb and the third kinematics limb are adjustable, the upper ends of the first kinematics limb, the second kinematics limb and the third kinematics limb are connected with the pelma supporting plate through a spherical hinge, and the lower ends of the first kinematics limb, the second kinematics limb and the third kinematics limb are connected with the base plate through a hook joint.In the invention, a 3-UPS / S-shaped parallel mechanism is adopted, the ankle joint rehabilitation trainer has three rotational degrees of freedom, and the rotational center is an ankle joint, and three types of movements of ankle back stretching and plantar flexion, introversion and extroversion, and internal rotation and external rotation are realized; the ankle joint rehabilitation trainer of the invention has a rigid structure and high carrying capacity, and can relieve the burden of the impaired joint effectively; and the ankle joint rehabilitation trainer invention ensures that the spherical surface movement of the ankle joint can be simulated actually, and has high bio-imitability.

Description

technical field [0001] The invention relates to a device in the technical field of rehabilitation engineering, in particular to a parallel multi-degree-of-freedom ankle joint rehabilitation training device. Background technique [0002] Every year, a large number of people in the world are physically disabled or paralyzed due to accidents or diseases, and lose their normal mobility. Clinical medical experience shows that correct and scientific rehabilitation training can play a very important role in the recovery and improvement of limb motor function. At present, physical rehabilitation training is mainly realized by professional nurses artificially simulating the joint movement of patients' limbs. This method has high requirements for the quality of professional nurses, and the labor intensity of professional nurses is relatively high. For patients, medical expenses are high. , less flexible. In order to solve this problem, various active rehabilitation devices have been...

AI Technical Summary

Problems solved by technology

At present, the main structural form of the ankle joint rehabilitation training device is a single-degree-of-freedom rotating hinge, which only realizes the dorsiflexion / plantar flexion of the ankle joint, and it is difficult to meet the requirements of comprehensive ankle joint rehabilitation training.

After searching the existing relevant technical literature, it is found that the Chinese patent application number is: 200810034002.7, and the name is "parallel multi-freedom prosthetic exoskeleton ankle joint". Although the exoskeleton ankle joint adopts a multi-degree-of-freedom parallel mechanism, but -RPS type parallel mechanism can only realize rotation in two directions, and the rotation center is not fixed

The Chinese patent application number is: 200820073836.4, and the name is "an ankle joint rehabilitation robot". Although the ankle joint rehabilitation robot adopts a parallel mechanism with three rotational degrees of freedom, its fixed rotational center does not coincide with the ankle joint. Therefore, it is difficult to effectively realize the rehabilitation training of the ankle joint

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