Ankle joint rehabilitation device

Abstract

The invention relates to a rehabilitation device. The ankle joint rehabilitation device comprises a movable platform, a fixed platform and an adjustment mechanism, wherein the movable platform and the fixed platform are connected through the adjustment mechanism. A foot sole pedal is arranged on the top face of the movable platform. A first ball joint is arranged on the bottom face of the movable platform. The adjustment mechanism comprises two driving devices, at least two first connecting rods, at least two second connecting rods, at least three supporting rods and a central constraining rod. The lower end of the central constraining rod is connected with the fixed platform. The upper end of the central constraining rod is connected with the first ball joint. The driving devices, the first connecting rods and the second connecting rods are sequentially connected and used for horizontal rotation, wherein the joints are provided with second ball joints respectively. The two ends of each supporting rod are connected with the first ball joint and the corresponding second ball joint respectively so as to drive the movable platform to rotate. A pressure sensor and a function electric stimulating electrode are arranged on the foot sole pedal. By means of the structure, three-freedom-degree rotation of the rehabilitation device is achieved through the two driving devices, and therefore the rehabilitation device is conveniently controlled, the structure is simplified, and cost is reduced. The invention further relates to a rehabilitation training system, wherein three training modes are achieved, and a patient can be effectively assisted in rehabilitation training.

Description

technical field [0001] The invention relates to the field of medical equipment, in particular to an ankle joint rehabilitation device. Background technique [0002] Generally speaking, a parallel mechanism is defined as a closed-loop mechanism in which the moving platform and the fixed platform are connected by at least two independent kinematic chains, have two or more degrees of freedom, and are driven in parallel. Due to its high stiffness-to-weight ratio, strong bearing capacity, small error accumulation, good dynamic performance, and compact structure, it has been gradually used in the field of ankle joint rehabilitation training equipment in recent years. [0003] Rutgers University in the United States designed an ankle orthopedic machine based on the Stewart platform. The device uses a pneumatic drive mechanism to make the moving platform complete six degrees of freedom (Girone, M.J., et al. Othopedic Rehabilitation Using the "Rutgers Ankle" Interface[A] . Proc. of ...

AI Technical Summary

Problems solved by technology

In order to achieve a better rehabilitation effect and satisfy the number of degrees of freedom of the ankle joint rehabilitation movement, the existing technology often controls the variables of the degrees of freedom by setting more driving devices, which not only increases the equipment cost and the difficulty of equipment control, but also reduces the system flexibility

[0011] 2. The structure is complex, especially the equipment using pneumatic or hydraulic servo mechanism, not only the structure is very complicated, but also the cost of manufacture and use is very high

[0012] 3. The rehabilitation effect of the equipment is not significant

Some devices in the prior art can be rotated at a very small angle, so that the effect of rehabilitation training is not obvious, and cannot meet the needs of patients for rehabilitation training

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