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Walking type under-actuated three-degree of freedom ankle joint movement recovery exoskeleton

A sports rehabilitation, ankle joint technology, applied in passive exercise equipment, medical science, prosthesis, etc., can solve the problems of the number of rehabilitation effects, experience limitations, etc., to achieve sports rehabilitation, prevent foot drop, and enhance walking ability.

Inactive Publication Date: 2012-01-04
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The common rehabilitation method for foot drop is that nurses help ankle dorsiflexion, and the rehabilitation effect is limited by the number and experience of nurses

Method used

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  • Walking type under-actuated three-degree of freedom ankle joint movement recovery exoskeleton
  • Walking type under-actuated three-degree of freedom ankle joint movement recovery exoskeleton
  • Walking type under-actuated three-degree of freedom ankle joint movement recovery exoskeleton

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Experimental program
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Embodiment Construction

[0017] Further illustrate the present invention below in conjunction with accompanying drawing.

[0018] refer to figure 1 , the walking underactuated three-degree-of-freedom ankle joint motion rehabilitation exoskeleton of the present invention includes a driving mechanism, a calf fixing mechanism, a three-degree-of-freedom ankle joint mechanism and a plantar support:

[0019] The driving mechanism includes a linear transmission part composed of an encoder 1, a DC servo motor 2, a shaft coupling 8, a lead screw 11 and a lead screw nut 13, and consists of a motor fixing seat 5, a long axis 7, a screw fixing side support 9, The supporting frame part composed of the bearing fixing part 10, the nut fixing part 12 and the supporting side bearing 15 of the leading screw, and the short shaft 14, the sensor connecting rod 16, the tension pressure sensor 17, the hinge 18, the rotating pin shaft 19, the bearing Block 21 and two ankle joint connecting rods 20 are composed of rotating p...

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PUM

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Abstract

The invention discloses a walking type under-actuated three-degree of freedom ankle joint movement recovery exoskeleton, comprising a driving mechanism, a shank fixing mechanism, a three-degree of freedom ankle joint and a thenar support. For patients with foot drop, the invention can utilize previously programmed walking program to serve as a tool for assisting walking and correcting gait. When people is in walking training, the human ankle can rotate in the axial plane according to an ankle angle curve input into the controller; the input standard ankle angle curve can adaptively adjust according to a man-machine interaction force; the exoskeleton provides a driving force for normal motion of the axial plane of the human ankle, synchronously satisfies the motion ranges of other two degree of freedom, prevents the damage to foot and interference to normal life due to towing and impacting caused by the foot drop, and improves the dorsiflexion ability of the patients with foot drop.

Description

technical field [0001] The invention relates to a walking underactuated three-degree-of-freedom ankle joint sports rehabilitation exoskeleton, which belongs to the field of sports rehabilitation equipment. Background technique [0002] Foot drop causes the patient's toes to touch the ground and drag, and has a typical "circle gait" when walking, which is very unfavorable for patients going up and down stairs and daily life. Therefore, correcting foot drop, breaking the extensor spasm pattern, and making the ankle produce active ankle dorsiflexion are of great significance for correcting gait and improving walking ability. The common rehabilitation method for foot drop is that nurses help ankle dorsiflexion, and the rehabilitation effect is limited by the number and experience of nurses. The wearable belt-driven ankle rehabilitation device is a new direction for research on how to help patients achieve active ankle dorsiflexion and prevent foot drop during walking. Content...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H1/00A61F4/00
Inventor 杨灿军余晖王东海
Owner ZHEJIANG UNIV
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