Ankle rehabilitation robot based on three-freedom-degree parallel mechanism

Abstract

The invention discloses an ankle rehabilitation robot based on a three-freedom-degree parallel mechanism. The robot comprises a mechanical part and a motion control system part. The mechanical part comprises two parts, namely an ankle driving part and a foot fixing device; four sets of hydraulic servo actuators cooperate to work through the parallel robot control technology are achieved, so that the motion control part controls three rotational degrees of freedom of an ankle rehabilitation robot moving platform. The robot is used for rehabilitation and adjuvant treatment for ankle joint disease, sport injury and post-operation, and the three rotational degrees of freedom of an ankle joint can be achieved; the ankle rehabilitation exercise curves in the patient rehabilitation process as instructed by a doctor can be entered, the entered rehabilitation process can be automatically applied to the ankle joint for driving the movement of the ankle joint, and the rehabilitation of a patient at the soonest is achieved.

Description

technical field [0001] The invention relates to an ankle rehabilitation robot, in particular to a parallel ankle rehabilitation robot. Background technique [0002] At present, ankle joint diseases, sports injuries and postoperative rehabilitation and auxiliary treatment require multiple physical therapists to carry out lower limb rehabilitation training, which is inefficient, and the treatment effect is highly subjective. It is impossible to accurately control and record ankle rehabilitation training parameters, which is not conducive to the improvement of treatment plans. . Contents of the invention [0003] The object of the present invention is to provide an ankle rehabilitation robot based on a three-degree-of-freedom parallel mechanism, which is used for rehabilitation and auxiliary treatment of ankle joint diseases, sports injuries and postoperative. The ankle rehabilitation robot based on the three-degree-of-freedom parallel mechanism can realize three rotational ...

AI Technical Summary

Problems solved by technology

[0002] At present, ankle joint diseases, sports injuries and postoperative rehabilitation and auxiliary treatment require multiple physical therapists to carry out lower limb rehabilitation training, which is inefficient, and the treatment effect is highly subjective. It is impossible to accurately control and record ankle rehabilitation training parameters, which is not conducive to the improvement of treatment plans.

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