Auxiliary ankle recovering device with sphere-pin pairs

Abstract

The invention discloses an auxiliary ankle recovering device with sphere-pin pairs. The auxiliary ankle recovering device comprises an upper platform and a lower platform. A dorsiflex / plantar flexion drive device, an introversion / extroversion drive device and an ankle device are disposed between the upper platform and the lower platform. The dorsiflex / plantar flexion drive device is respectively connected with the upper platform and the lower platform through the sphere-pin pairs. The introversion / extroversion drive device is respectively connected with the upper platform and the lower platform through the sphere-pin pairs. Connecting pairs formed by U-shaped connectors and connecting platforms and connecting pairs formed by mobile boxes and connecting platforms are sphere-pin pairs. By the sphere-pin pairs, rotations except self-rotation are achieved, problems caused by self-rotation are avoided, and high anthropomorphic degree is achieved. The auxiliary ankle recovering device is capable of fully saving energy consumption. Different motor driving modes can be selected according to different restoring requirements of patients.

Description

technical field [0001] The invention relates to a human foot rehabilitation device, in particular to an ankle joint auxiliary rehabilitation device with a ball and pin pair. Background technique [0002] Due to the importance of ankle joint devices to human movement, there are more and more researches on ankle joint devices in rehabilitation medical engineering. The ankle joint device structure disclosed at present is used in many kinds of robots, mainly by Japanese HONDA company. The humanoid robot ASIMO launched after P2 and P3, the SDR-4 compact humanoid robot launched by Sony Corporation of Japan, and the HRP-4 humanoid robot launched by Kawada Industry Co., Ltd. (Kawada) and Japan Industrial Research Institute (AIST), The miniature humanoid robot UT-μ2 of the University of Tokyo, the HUBO robot and the HSR series robot published by the Korea Advanced Institute of Science and Technology (KAIST), the THBIP-II developed by Tsinghua University in China, and the imitation ro...

AI Technical Summary

Problems solved by technology

[0004] To sum up, the existing humanoid robot ankle joint device mechanism is complex and bulky, and the existing ankle joint device rehabilitation mechanism has the following problems:

[0005] (1) Insufficient degree of freedom of the mechanism: the robot can only realize the rotation around one or two axes, and cannot realize the 3-dimensional compound rotation around the center point of the ankle joint device, which affects the rehabilitation effect

[0006] (2) Redundant degree of freedom of mechanism: In addition to realizing 3-dimensional rotation, the robot also has 3 degrees of freedom of movement. When the motion platform with fixed feet moves, if the calf cannot follow or the follow-up is not timely, it will cause Secondary Injury to the Ankle Apparatus

[0007] (3) The rotation center of the mechanism cannot coincide with the center of the ankle joint device

[0009] (5) Complex organization

Images