Multi-degree-of-freedom ankle dynamic exoskeleton

Abstract

The invention relates to a multi-degree-of-freedom ankle joint power exoskeleton. The multi-degree-of-freedom ankle joint power exoskeleton comprises two parallel engine bases, two rotary shafts which are horizontally supported at the upper parts of the two engine bases along a crown-shaped shaft, two flexion and extension connection parts which are respectively and fixedly connected with the inner ends of the two rotary shafts and are provided with cantilever ends, two arc-shaped rails which are respectively and fixedly connected with the cantilever ends of the two flexion and extension connection parts, two slide blocks which are respectively and slidingly arranged on the two arc-shaped rails, two L-shaped connection parts with upper ends which are respectively and fixedly connected with the two slide blocks, two rolling guide rails which are respectively and fixedly connected with the lower ends of the two L-shaped connection parts and are arrayed in parallel at an interval along an arrow-shaped shaft, a foot plate which is arranged on the two rolling guide rails along the arrow-shaped shaft and a driver which is horizontally and fixedly connected with the engine base at one side; a horizontal plane rotary shaft is arranged at the bottom of the foot plate; the horizontal plane rotary shaft is rotatably inserted between the two rolling guide rails; an output shaft of the driver is in power connection with a rotary shaft located on the engine base. The multi-degree-of-freedom ankle joint power exoskeleton can be used for being self-adapted to inward / outward turning, inward / outward rotation and three-type coupling movement of moving backwards and backwards along the arrow-shaped shaft of an ankle joint; the rehabilitation exercise safety of patients is guaranteed and the rehabilitation curative effect can also be improved.

Description

technical field [0001] The invention relates to an intelligent bionic rehabilitation device, in particular to a multi-degree-of-freedom ankle joint dynamic exoskeleton adapted to the anatomical structure of the ankle joint by combining active and passive movements based on bionics. Background technique [0002] At present, the incidence of cerebral apoplexy (stroke) in my country is increasing at a rate of nearly 9% per year, and it is the disease with the largest impact in my country. The morbidity rate of stroke is very high, it will make the patient lose the labor force and cannot take care of himself. The main peripheral performance of the patient's ankle is muscle spasm / contraction in the back of the calf, which causes the patient's ankle joint dysfunction, such as foot drop or varus Symptoms, which can seriously affect the patient's ability to walk normally. The ankle joint rehabilitation equipment, orthotics, or exoskeletons that are widely available on the market to...

AI Technical Summary

Problems solved by technology

In addition, if forced to exercise in one direction, it will also re-injure the ankle joint, and the comfort, safety, adaptability and rehabilitation effect are very poor

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