Rehabilitation training robot for lower limbs

Abstract

The invention belongs to the field of rehabilitation medical devices, particularly relating to a rehabilitation training robot for lower limbs. The robot consists of a support mechanism, an incline system, a lower limb training mechanism and a control system. The lower limb training mechanism comprises a hip joint mechanism and an ankle joint mechanism; and the ankle joint mechanism consists of a screw nut structure for realizing linear reciprocating motion and a crank four-bar mechanism for realizing plantar flexion and dorsal flexure. The hip joint mechanism and the ankle joint mechanism are combined to finish different training tasks by fully using the principle of the four-bar mechanism and drive the lower limbs of patients to generate the training method consisting of different training modes, training tracks and exciting ways. The training modes include active training, passive training, resistance training and the like; the exciting ways for training the lower limbs include hip joint flexion and extension exciting, foot reciprocating exciting, ankle joint toe flexion and dorsal flexure exciting and combination exciting; the robot moves flexibly, is stable and reliable, has simple appearance and is easy to be accepted by the patients.

Description

technical field [0001] The invention belongs to the field of rehabilitation medical equipment, and in particular relates to a lower limb rehabilitation training robot, which can be applied to the technical field of early rehabilitation for patients with cerebrovascular diseases, central nervous injuries such as brain or spinal injuries, and the like. Background technique [0002] Patients with cerebrovascular diseases such as stroke and central nervous system injuries such as brain or spinal injuries have a high disability rate, mainly including sequelae, acute neurological paralysis, etc., and have varying degrees of loss of living ability and working ability. In fact, given timely rehabilitation treatment to such patients, especially in the early stage of the disease, patients can recover most of their motor functions. Neurorobot-assisted rehabilitation medicine is based on the principles of rehabilitation medicine, using rehabilitation robots to replace traditional medica...

AI Technical Summary

Problems solved by technology

At present, patients with cerebrovascular diseases such as stroke and central nervous system injuries such as brain or spinal injuries are usually treated with one-on-one therapists, which is inefficient and intensive.

At present, there is a lack of lower limb rehabilitation training robots on the market. Even the existing lower limb rehabilitation robots are single in form and function. It has been given enough attention, and it has been scientifically proven that rehabilitation training in the first 6 months of the disease is much better than after 6 months; 2. The exoskeleton robot is limited by the mechanical structure of the traditional exoskeleton, and the knee joint motor needs to be connected On the arm of the lower limbs, it causes a large burden on the hip joint motor, and at the same time limits the flexibility of the exoskeleton; 3. The robot mechanism is complex and exposed, and patients are prone to fear, which is difficult to accept

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