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Wearable quasi-passive ankle exoskeleton rehabilitation device

A rehabilitation device and ankle joint technology, applied in the field of human-computer interaction, can solve the problems of not fully utilizing the potential energy of human body gravity, high energy consumption, and poor safety, and achieve the effects of avoiding forced driving, saving energy consumption, and being easy to replace

Active Publication Date: 2016-11-16
ZHEJIANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the active mechanism has a coercive effect on the human body, has poor safety, and consumes a lot of energy, and does not make full use of the human body's gravitational potential energy

Method used

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  • Wearable quasi-passive ankle exoskeleton rehabilitation device
  • Wearable quasi-passive ankle exoskeleton rehabilitation device
  • Wearable quasi-passive ankle exoskeleton rehabilitation device

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Embodiment Construction

[0026] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0027] like figure 1 As shown, the wearable quasi-passive ankle joint exoskeleton rehabilitation device includes a tension spring connection mechanism, a torsion spring 13, a torque compensation mechanism, a guide rail slider transmission mechanism and an electric control braking system; the extension spring connection mechanism and the torsion spring 13 The combination realizes the torque change of the ankle joint during walking, and the electronically controlled braking system, torque compensation mechanism and guide rail slider transmission mechanism realize the non-linear compensation of torque, thereby simulating the torque of the ankle joint when a healthy person walks.

[0028] like diagram 2-1 , 2-2 As shown in and 3, the tension spring connection mechanism includes a foot-shaped bottom plate 11, a convex vertical plate 1, a long main shaft 2...

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Abstract

The invention discloses a wearable quasi-passive ankle joint exoskeleton recovery device. An excising recovery walking assisting ankle joint exoskeleton system is normally an active driving system, the forced effect on the human body exists, the safety performance is poor, energy dissipation is large, and the gravitational potential energy of the human body is not sufficiently used. The wearable quasi-passive ankle joint exoskeleton recovery device comprises an extension spring connecting mechanism, a reversing spring, a torque compensation mechanism, a guide rail sliding block transmission mechanism and an electric control brake system; the extension spring connecting mechanism is combined with the reversing spring to achieve torque changes of the ankle joint during walking; and the electric control brake system, the torque compensation mechanism and the guide rail sliding block transmission mechanism achieve torque nolinear compensation, so that the torque of the ankle joint of a health person during walking is simulated. By means of the wearable quasi-passive ankle joint exoskeleton recovery device, on the premise that the safety of a patient is guaranteed, the patient suffering from low limb dysfunction such as strephenopodia and foot drop can conduct recovery walking with the wearable quasi-passive ankle joint exoskeleton recovery device.

Description

technical field [0001] The invention belongs to the technical field of human-computer interaction, and in particular relates to a wearable quasi-passive ankle joint exoskeleton rehabilitation device. Background technique [0002] Foot drop, foot inversion, and foot external rotation are common complications of paralysis, lower limb dysfunction, and long-term bedridden patients. Due to the long-term immobility of the lower limbs, the passive and active properties of muscles, tendons, and connective tissues are changed, including muscle fibers. Changes in the connective tissue of the type cross bridge, loss of sarcomeres, loss of water, changes in collagen deposition and viscosity, resulting in muscle stiffness and muscle disuse atrophy. If the Achilles tendon is contracted due to continuous spasm of the calf triceps without stretching, reversible foot drop will turn into irreversible foot drop. [0003] Existing ankle exoskeleton systems for assisting rehabilitation walking ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61H3/00A61H1/02
Inventor 穆俊辰杨灿军陆宏杰朱兆杰吴子凡杨巍
Owner ZHEJIANG UNIV
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