Lower limb multi-training mode rehabilitation robot

Abstract

The invention discloses a lower limb multi-training mode rehabilitation robot, which comprises a pedal drive mechanism, a knee and hip joint movement mechanism and a foot ankle joint movement mechanism. In the pedal drive mechanism, one end of a pedal shaft is connected with a pedal and the other end of the pedal shaft is connected with the leg knee and hip joint movement mechanism and the foot ankle joint movement mechanism. In the knee and hip joint movement mechanism, a connecting rod is fixedly connected with the end part of a middle shaft, the input end of an underdrive device is connected with a brake and a drive source and the output end of the underdrive device is connected with the middle shaft. The left and right sleeves of the foot ankle joint movement mechanism are driven by drive mechanisms which drive in opposite directions, an input drive mechanism is connected with a drive source, and the output drive mechanism is connected with the pedal shaft. In the device, the drive of the knee, hip and foot ankle joint movements around the same central line is realized, the real time control of the brake and the two drive sources is adopted to realize the passive, assisting, active and damping rehabilitation training modes of the six joints on the lower limbs of a patient, the structure is compact, the control is accurate, the operation is safe, and batch production can berealized easily.

Description

technical field [0001] The invention belongs to the field of rehabilitation medical machinery, and relates to a lower limb multi-training mode rehabilitation robot, in particular to a lower limb multi-training mode rehabilitation robot for patients with leg motor dysfunction caused by diseases, lower limb hemiplegia, various injuries and the like. Background technique [0002] With the development of society, the number of patients with limb movement disorders caused by aging population and various diseases and accidents is increasing. In addition to drug treatment or surgical treatment for such patients, scientific rehabilitation training is very important for improving the motor function of the affected limb. At the same time, with the development of science and technology and the continuous improvement of people's quality of life, people's requirements for medical care are getting higher and higher. In this context, limb rehabilitation robots, as a tool for rehabilitation...

AI Technical Summary

Problems solved by technology

[0004] The above-mentioned lower limb rehabilitation robot has the advantages of simple structure and easy control, but the degree of freedom of the robot is relatively small, and some important joint movements of the patient cannot be trained or corrected during gait training.

At the same time, these lower limb rehabilitation robots have a single movement mode, mainly performing various types of CPM (Continuous Passive Motion, continuous passive motion), and a small number of lower limb rehabilitation robots can work in active mode

The latest research shows that rehabilitation training for patients with dysfunction or disabilities due to factors such as accidents, birth defects, diseases, wars, and aging of the body usually requires four training modes, namely, passive training mode, power training mode, active training mode, Damping training mode. At present, there are no rehabilitation robots that support the above-mentioned multi-joints and four rehabilitation training modes at the same time at home and abroad.

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