External skeleton type gait rehabilitation training device

Abstract

The invention discloses an external skeleton type gait rehabilitation training device. The device mainly comprises a support, a healthy limb side external skeleton system, a healthy limb side armpit supporting mechanism, a diseased limb side armpit supporting mechanism and a diseased limb side external skeleton system. On a healthy limb side, an external skeleton type motion parameter detection system is used for detecting healthy limb motion parameters, and an ankle part of a healthy limb motion parameter detection system is connected with an in-situ walking system; on a diseased limb side, a lower limb external skeleton system with three degrees of freedom is utilized to achieve auxiliary motion of diseased limbs of a patient. When rehabilitation training is carried out, the armpit supporting mechanisms are supported in armpits of the patient to lighten burdens on lower limbs of the patient, the armpit supporting mechanisms are of a right-left symmetrical structure, and the heights of armpit supporting parts can be adjusted to adapt to different patients.

Description

technical field [0001] The invention relates to the technical field of robots and medical devices, in particular to an exoskeleton type gait rehabilitation training device. Background technique [0002] The lower limbs support the human body, bear the function of walking, and play an important role in people's daily life. The research on human lower limb rehabilitation training robot has important theoretical significance and practical application value. [0003] At present, most robots for lower limb gait rehabilitation training use mechanical exoskeleton structure or pedal structure to realize rehabilitation exercise, or correct human gait by driving human pelvis. A gait rehabilitation robot using an exoskeleton structure, such as the Swiss Lokomat gait rehabilitation training robot, is mainly composed of a gait corrector, a body weight support system and a walking platform. Its gait corrector is an exoskeleton structure, and each exoskeleton has two degrees of freedom, ...

AI Technical Summary

Problems solved by technology

[0004] The mechanical exoskeleton can directly drive the joints of the lower limbs of the human body, and the structure is relatively simple. However, most of the current lower limb exoskeletons for rehabilitation cannot support the patient's body. It needs to be used in conjunction with a walking platform and a body weight support system to achieve rehabilitation training, and rehabilitation training During the process, the walking platform will have a certain impact on the gait of the human body

Although the pedal structure does not require the use of a walking platform, because it cannot directly drive the joints of the lower limbs, it is difficult to make the joints of the lower limbs of the patient perform rehabilitation training according to certain gait parameters during use.

Correcting the gait of the human body by driving the human pelvis can achieve a certain effect of rehabilitation training, but it needs the walking platform to cooperate with the rehabilitation training, and similar to the structure of the pedal, this method cannot directly drive the joints of the lower limbs, so it has certain limitations in use Sex, the effect of rehabilitation training is also limited

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