Lower limb rehabilitation training exoskeleton with bionics design

Abstract

The invention relates to a lower limb rehabilitation training exoskeleton with bionics design. An existing lower limb rehabilitation training exoskeleton is complex in driving structure, low in the response speed and not ideal in rehabilitation training effect, and lacks bionic consideration. The lower limb rehabilitation training exoskeleton comprises a waist tightening mechanism and lower limb exoskeleton leg rods, wherein the waist tightening mechanism is connected with the waist of a wearer, the left lower limb exoskeleton leg rod and the right lower limb exoskeleton leg rod respectively have four degrees of freedom and achieve three degrees of freedom of hip joints through a hip joint adduction and abduction mechanism, a hip joint bending and stretching mechanism and a hip joint medial rotation and lateral rotation mechanism. The axes of the three rotation degrees of freedom are orthogonal at the motion center of the hip joints of the human body. The rotation center of a knee joint bending and stretching mechanism moves along with the rotation center of the knee joints of the human body, so that the exoskeleton and the rotation center of the knee joints of the human body are always kept in the same axis. The hip joint bending and stretching mechanism and the knee joint bending and stretching mechanism are directly driven by a motor in cooperation with a speed reducer. The lower limb rehabilitation training exoskeleton is compact and portable in structure, man-machine interference force is avoided, damage caused by rehabilitation training to the knee joints is reduced, and the whole rehabilitation training becomes more natural and easier.

Description

technical field [0001] The invention relates to a wearable lower limb rehabilitation training exoskeleton, which belongs to the field of medical rehabilitation equipment. It is suitable for sports rehabilitation training for patients with lower limb paralysis. Background technique [0002] As the population ages, the number of stroke patients continues to increase. In addition, spinal cord injuries caused by traffic accidents, sports injuries and other injury factors are also on the rise, and early rehabilitation training for patients is receiving more and more attention. The mainstream is to use the plasticity of the central nervous system to make the affected side respond accordingly through exercise training, improve muscle tension, and establish a new combination relationship of the nervous system. Relying on the experience of physical therapists to perform manual rehabilitation training on patients is inefficient, and the use of lower limb rehabilitation training exos...

AI Technical Summary

Problems solved by technology

However, the currently developed lower extremity exoskeletons have complex drive structures, slow response speeds, or lack of bionic considerations in the design of degrees of freedom. In particular, the flexion and extension of the human knee joint is not a simple fixed-axis rotation. It will cause patients to be affected by additional interference force during rehabilitation training, causing discomfort and limiting the effect of rehabilitation training for patients

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