Human lower extremity exoskeleton walking rehabilitation robot

Abstract

A human lower extremity exoskeleton walking aid rehabilitation robot belongs to the technical field of medical rehabilitation equipment, and comprises a lower back movement module, a hip joint movement module, a knee joint movement module and an ankle joint movement module, wherein a back servo motor drives a hip joint to move through a crank and rocker mechanism and a space four-links mechanism; an electric knee push rod drives a knee joint to move; an electric ankle push rod drives an ankle joint to move. The human lower extremity exoskeleton walking aid rehabilitation robot helps a patient with lower limb paralysis to stand and walk, and the flexion and extension movement of the hip joint, the knee joint and the ankle joint is controlled by acquiring pressure signals of soles of feet, so that the patient is helped to stride; the construction and model design of the ankle joint inversion and eversion passive driving degree of freedom can help to reduce impact from the ground, is conductive to reducing the burden of a user keeping balance of the self and the exoskeleton robot in a frontal plane, is beneficial for the patient to walk comfortably, and improves the rehabilitation training efficiency.

Description

[0001] Technical field [0002] The invention relates to the field of rehabilitation medical equipment, specifically a lower extremity exoskeleton walking aid rehabilitation robot. Background technique [0003] At present, with the aging of modern society, patients with cardiovascular diseases such as stroke and hemiplegia, as well as patients with lower limb muscle atrophy and spinal cord injury have gradually become a common group in modern society. The spinal cord is the conduction pathway of the sensory and motor nervous systems, so the main symptom of spinal cord injury is paralysis caused by interruption of the conduction pathway. Spinal cord injury refers to the compression or rupture of the spinal cord caused by various external forces acting on the spine. Severe spinal cord injury will lead to paralysis of the lower limbs. Patients often cannot recover and accurately master walking skills due to different degrees of dysfunction. Therefore, seeking effective rehabilit...

AI Technical Summary

Problems solved by technology

[0004] After searching the existing technology, it is found that the application number is 200910088396.9 Chinese invention patent, name: wearable lower extremity exoskeleton device, this technology includes: waist support frame and load frame, adjustable hip mechanism, connecting rod adjustable knee Joint mechanism, connecting rod adjustable ankle joint mechanism, pressure detection shoes, leg connecting rod, restraint parts and various connecting parts, the exoskeleton device has six degrees of freedom for a single lower limb, two hip joints, one knee joint and The three degrees of freedom of the ankle joint, the device can be used to enhance the wearer's ability to walk with weight and walk for a long time, but the device does not involve driving, so the function provided by the invention is limited, it cannot be used for rehabilitation, and it cannot be used to help patients walk

Chinese invention patent application number 200410053695.6, name: wearable lower limb walking exoskeleton, the technology includes: waist support, hip four-bar mechanism, knee four-bar mechanism, ankle four-bar mechanism and foot support, the exoskeleton A single lower limb has four degrees of freedom, and a four-bar mechanism can be used to complete a large load, but the exoskeleton robot is only used to assist or enhance the wearer's walking ability, and cannot be used to help patients walk, and the structure no mechanical stop in

The Chinese Invention Patent Application No. 201010158178.0 discloses a lower limb rehabilitation training robot, which is a device for helping stroke patients to train, and cannot be used to help patients walk

The Chinese invention patent application with the application number 201310726945.7 discloses a comprehensive rehabilitation training aid for cerebral palsy. The lower limb exoskeleton device is fixed on the bracket, which can realize the patient's hip joint flexion / extension, abduction / varus, internal rotation / external rotation , knee joint / flexion and extension, foot dorsiflexion / toe flexion, foot varus / valgus, foot rotation / external rotation and other rehabilitation training, but each joint is not driven, it is a passive degree of freedom, and it cannot be used to help patients walk

The Chinese invention patent application with the application number 201310688125.3 discloses an anthropomorphic lower limb exoskeleton robot, which includes the back of the upper body, the left leg and the right leg, and the left leg and the right leg respectively include a hip drive system and a knee drive system And the foot wearing system, but its foot is not driven, it is a passive degree of freedom, it can be used to assist walking, but it cannot be used for rehabilitation training of patients

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