Five-freedom-degree series-parallel lower limb rehabilitation robot

A technology of rehabilitation robot and degree of freedom, which is applied in gymnastics equipment, muscle training equipment, passive exercise equipment, etc. It can solve problems such as complex structure, troublesome control, and insufficient attention paid to patients' early recovery, and achieve relatively high rigidity and low cost. Inexpensive, simple structure effect

Active Publication Date: 2013-05-08
南京鼎世医疗器械有限公司
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

At present, the existing lower limb rehabilitation robots are basically active robots. For example, the Chinese patent application No. 201120422008.9 discloses a lower limb rehabilitation stepper, which adds damping pulleys. activit

Method used

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  • Five-freedom-degree series-parallel lower limb rehabilitation robot
  • Five-freedom-degree series-parallel lower limb rehabilitation robot
  • Five-freedom-degree series-parallel lower limb rehabilitation robot

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Embodiment Construction

[0014] The five-degree-of-freedom lower limb rehabilitation robot mentioned in the present invention is composed of three parts, a frame and two motion platforms, which can realize Y and Z axial movement and rotation around X, Y and Z axes. The frame is formed by connecting the base 1 and the bracket in series, and two moving guide rails are distributed in parallel inside the base 1; the bracket includes four branch chains, which are support chain A 2, support chain B 3, handrail chain A 4, and handrail chain B 5; The support chain A 2 and the support chain B 3 have the same structure. They are composed of the moving pair P1 and the rotating pair R1 in series, and are vertically connected to the left and right ends of the base. The structure of the handrail chain A 4 and the handrail chain B 5 is also the same. The pair R2 and the mobile pair P3 are connected in series, and are vertically connected to the front end of the base. In this way, the support chain can realize Z-dire...

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Abstract

The invention discloses a five-freedom-degree series-parallel lower limb rehabilitation robot, and belongs to the technical field of medical rehabilitation instruments. The five-freedom-degree series-parallel lower limb rehabilitation robot can achieve the attitude rotation around the X axis, the Y axis and the Z axis, conducts axial movement along the Y axis and the Z axis, and actually simulates multi-free-degree complex motions of human lower limb and foot walking. The five-freedom-degree series-parallel lower limb rehabilitation robot comprises a rack and two moving platforms, and a base and a support are connected in a series mode to form the rack. When a patient is in the early days of rehabilitation, the patient can keep balance with the help of a supporting frame and passively conduct rehabilitation trainings of lower limb joint motion. When the patient is in the later stage of rehabilitation, the patient can actively conduct the rehabilitation exercises of walking and the like with the help of handles frames, so that the rehabilitation trainings are more effectively and continuously provided for the patient. The five-freedom-degree series-parallel lower limb rehabilitation robot is comprehensive in functions, simple in structure, convenient to operate, and suitable for different training stages of different patients, so that the patient with lower limb walking function damaged can more effectively and continuously conduct the rehabilitation trainings.

Description

technical field [0001] The invention belongs to the technical field of medical rehabilitation machinery, and describes a five-degree-of-freedom hybrid rehabilitation robot suitable for lower limb rehabilitation treatment, which can simulate actual rehabilitation movements such as lower limb walking and ankle movement, and can effectively realize lower limb hemiplegia and lower limb motor function damage, etc. Rehabilitation training function for patients with similar diseases. Background technique [0002] At present, my country, like many countries in the world, is gradually entering an aging society. Among the elderly, cerebrovascular and nervous system diseases occur frequently, and most of them have symptoms of hemiplegia. Simultaneously, the number of nerve injury or limb injury that causes because of traffic accident is also increasing. In particular, motor skill impairments in the lower extremities have seriously affected patients' daily life. In addition to early s...

Claims

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Application Information

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IPC IPC(8): A61H1/02A63B21/00A63B23/04
Inventor 杨启志姚斌斌曹电锋吴伟光宋俊朋赵金海
Owner 南京鼎世医疗器械有限公司
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