Robot for lower limb joint rehabilitation training

A rehabilitation robot and joint technology, applied in gymnastics equipment, passive exercise equipment, sports accessories, etc., can solve the problems of mechanical legs prone to tremors and movement gaps

Active Publication Date: 2015-01-21
浙江佑仁智能机器人有限公司
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  • Abstract
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Problems solved by technology

The technical solution of the invention has the following deficiencies: the low-speed synchronous belt transmission scheme is used to drive the mechanical legs, and the mechan

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  • Robot for lower limb joint rehabilitation training
  • Robot for lower limb joint rehabilitation training
  • Robot for lower limb joint rehabilitation training

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[0031] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0032] The lower limb joint rehabilitation training robot of the present invention has three degrees of freedom, including ankle joint device 1, knee joint device 2, hip joint device 3, mechanical leg thigh adjustment device 4, mechanical leg calf adjustment device 5, leg motion prediction device 6 and Frame 7 (see figure 1 ), in which the ankle joint adopts a design scheme of direct motor drive and bevel gear transmission, which is compact and simple; the hip joint and knee joint device adopts a design scheme of high-speed synchronous belt and low-speed gear transmission, and the hip joint power assembly is integrated in the machine On the frame 7, the weight of the mechanical leg movement part is reduced; the knee joint power assembly is placed at the back of the hip joint as a whole to balance the weight of the mechanical leg movement part, achieving a lightweight design...

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Abstract

The invention discloses a robot for lower limb joint rehabilitation training, and belongs to the field of medical equipment. The robot comprises an ankle joint device, a knee joint device, a hip joint device, a mechanical leg thigh adjustment device, a mechanical leg shank adjustment device, a leg motion prediction device and a rack. The ankle joint device is directly driven by a motor and under bevel gear drive, and pressure sensors are installed on a pedal and can detect insole pressure to predict motion intentions of an ankle joint; a knee joint and a hip joint are driven by means of a high-speed synchronous belt and a low-speed gear, the mechanical leg thigh adjustment device and the mechanical leg shank adjustment device respectively use a swinging push rod sliding block mechanism composed by an electric push rod and a linear sliding rail, and accordingly the length of a mechanical leg can be adjusted so as to be suitable for patients of different heights; the leg motion prediction device is provided with a pressure sensor which can directly judge motion trends of the hip joint and the knee joint and can predict motion intentions of a lower limb of a human body by being combined with the pressure sensors arranged on the pedal, and accordingly flexible auxiliary rehabilitation training is finished.

Description

technical field [0001] The invention relates to a lower limb joint rehabilitation training robot, which belongs to the field of medical equipment. Background technique [0002] In recent years, rehabilitation robots have gradually replaced traditional artificial physical therapy due to their automation, precision and intelligence. Rehabilitation robots can be divided into two types: auxiliary and therapeutic. The therapeutic lower limb rehabilitation robots can be divided into single-degree-of-freedom and multi-degree-of-freedom lower-limb rehabilitation robots. The single-degree-of-freedom lower limb rehabilitation training robot has a single movement, and its application scope is limited to the rehabilitation of local joints. It cannot realize the coordinated movement of each joint of the leg, and the training effect is not good; the multi-joint lower limb rehabilitation training robot can help patients perform a variety of main tasks. Passive training, determine the pers...

Claims

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Application Information

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IPC IPC(8): A61H1/02A63B23/04
Inventor 王洪波胡国清何丽桑凌峰张冬许朋王帅帅邸海涛
Owner 浙江佑仁智能机器人有限公司
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