Parallel structure type ankle joint rehabilitation training device

Abstract

The invention relates to a parallel structure type ankle joint rehabilitation training device, which comprises a thigh support, an inner thigh support rod, an outer thigh support rod, a shank connecting sleeve, a foot support plate, a base plate, a flexible first movement branch chain, a flexible second movement branch chain and a third movement branch chain. The upper ends of the first movement branch chain and the second movement branch chain are connected with the foot support plate through ball hinges, and the lower ends of the first movement branch chain and the second movement branch chain are connected with the base plate through hook hinges; and one end of the third movement branch chain can rotate around the extension direction of the third movement branch chain, and the upper end and the lower end of the third movement branch chain are respectively connected with the foot support plate and the base plate through hook hinges. The 2-UPS / UCU / S type parallel structure is adopted, three degrees of freedom of rotation can be provided, the center of rotation is the ankle joint, the dorsiflexion / plantar flexion, inward turning / outward turning and inward rotation / outward rotation of the ankle joint can be truly realized, and the bionic performance is good. Moreover, the device has a symmetric structure, and the movement can be realized easily.

Description

technical field [0001] The invention relates to a device in the technical field of rehabilitation engineering, in particular to a parallel structure 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 designed and ...

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

The Chinese patent application number is: 201010600198.9, and the name is "Parallel Ankle Joint Rehabilitation Trainer". training is not comprehensive

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