Gait training mechanical leg

A gait training and mechanical leg technology, applied in passive exercise equipment, physical therapy and other directions, can solve the problems of not fully conforming to the trajectory of the ankle joint, unable to simulate the gait training of the ankle joint, etc., and achieves high manufacturing cost and large volume. Effect

Inactive Publication Date: 2013-06-05
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In terms of gait training effect, it cannot simulate the gait training of the ankle joint, and the ga

Method used

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  • Gait training mechanical leg
  • Gait training mechanical leg
  • Gait training mechanical leg

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0030] 1. see figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , a mechanical leg for gait training, including a treadmill (I) and two sets of single-leg simulation devices (II), characterized in that:

[0031] 1) The two single-leg simulation devices (II) are symmetrically placed side by side on a frame (54), and the frame (54) is fixedly connected with the treadmill (I), so that the two sets of single-leg simulation devices (II) ) the training shoes (19) at the lower end can step on the pedal (55) of the treadmill (1);

[0032] 2) Each set of single-leg simulation device is as follows: a hip joint fixing rod (1) is hinged to an upper thigh block (6) through a hip joint, and the upper thigh block (6) is connected to a lower thigh block (7). Telescopic socket, the thigh lower block (7) is hinged with a calf upper block (12) through a knee joint, the calf upper block (12) is telescopically connected with a calf low...

Embodiment 2

[0036] This embodiment is basically the same as Embodiment 1, and the special feature is that the hip joint fixing rod (1) is fixed and installed on the frame (54) horizontally, and is fixed and installed vertically with the hip joint fixing block (2), and the hip joint is fixed Block (2), joint shaft (5) and hip joint driver connection block (32) form the hip joint structure, angular contact ball bearings (4) are installed at both ends of the joint shaft, and joint bearing outer cover (33) and joint bearing inner The cover (3) covers the angular contact ball bearings (4) at both ends, so that the hip joint driver connection block (32) rotates around the joint axis (5); the lower end of the hip joint driver connection block (32) and the thigh upper block (6) Fixed installation, the lower thigh block (7) is set on the upper thigh block (6), the length of the thigh is adjusted through the latch (30), and the upper and lower thigh blocks are fastened by the fixed handle (31); the ...

Embodiment 3

[0038] This embodiment is basically the same as Embodiment 1, the special feature is that: the driver structure is installed on the skeleton structure of the mechanical leg, its motor (53) is fixedly installed on the bracket plate (47), the screw nut sleeve (39) and The sleeve (40) is fixedly installed on both sides of the bracket plate (47), the end cover (44) and the sleeve (40) are fixedly installed, and the force sensor (45) is screwed between the suspension block (46) and the end cover (44). Between, the small pulley (49) is fixedly installed on the output shaft of the motor (53), the small pulley (49) is connected with the large pulley (48) through the timing belt (50), and the large pulley (48) is fixedly installed on the On the screw nut sleeve (39), the guide sleeve (41) is fixedly installed inside the sleeve (40), one end of the ball screw (38) is screwed with the guide column (42), and the guide column baffle (43) is fixedly installed on the On the guide column (42)...

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Abstract

The invention relates to a gait training mechanical leg which comprises a treadmill and two single-leg simulators. The single-leg simulators are parallelly disposed on a frame in bilateral symmetry. The frame is fixedly connected with the treadmill, so that training shoes at the lower ends of the single-leg simulators are allowed to step on a footboard of the treadmill. Three drivers are connected to hip joints, knee joints and ankle joints respectively in a crossing manner. The three drivers are the same in structure. The three joints coordinate to rotate to allow for complete human gait training so as to simulate motion tracks of the hip joints, the knee joints and the ankle joints during walking. The gait training mechanical leg is capable of effectively simulating the motion tracks of the hip joints, the knee joints and the ankle joints during human gait training, and is compact in structure, light in weight, stable in performance and easy to control.

Description

technical field [0001] The invention relates to a gait training mechanical leg, which can simulate the walking gait of normal people, including the motion tracks of hip joints, knee joints and ankle joints during walking. It belongs to the technical field of mechatronics products. technical background [0002] In recent years, with the rapid development of our country's economy and the continuous improvement of people's living standards, there are more and more researches on human beings. Research on upper limb gait training and local joint training robots at home and abroad started earlier, and the theory and technology are relatively mature. As for lower limb gait training robotic legs, research institutions are mainly concentrated abroad, and domestic research in this direction is still relatively small. Due to factors such as the unclear balance and coordination mechanism of human walking, the research on lower limb gait training robot legs is more difficult than upper ...

Claims

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Application Information

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IPC IPC(8): A61H1/00
Inventor 钱晋武丁柏君沈林勇章亚男吴静文伍勇强张辉锋
Owner SHANGHAI UNIV
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