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

A rehabilitation robot and degree-of-freedom technology, applied in passive exercise equipment, physical therapy, etc., can solve the problems of low efficiency, subjectivity of treatment effect, and unfavorable improvement of treatment plan, and achieve the effect of good rigidity and high control precision.

Inactive Publication Date: 2015-11-11
HARBIN TIANYU REHABILITATION MEDICAL ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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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 in

Method used

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

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Embodiment Construction

[0008] as attached figure 1 As shown, the ankle rehabilitation robot based on the parallel three-degree-of-freedom mechanism includes the lower platform of the ankle rehabilitation robot (1), four sets of servo actuators and matching servo valves (3), the dynamic platform of the ankle rehabilitation robot (8), four A set of hinges (2) connecting the servo actuator to the lower platform of the ankle rehabilitation robot, four sets of hinges (9) connecting the servo actuator to the moving platform of the ankle rehabilitation robot, and a limit rod fixed on the lower platform of the ankle rehabilitation robot ( 5), the ball hinge (6) that connects the limit rod and the upper platform of the ankle rehabilitation robot, and a set of foot fixing devices (7) that are fixed on the movable platform and can be adjusted in size. The mechanical part has three degrees of freedom of rotation about the horizontal direction. The servo actuator may be a hydraulic servo actuator, a pneumatic s...

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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 ...

Claims

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Application Information

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IPC IPC(8): A61H1/02
Inventor 杨炽夫
Owner HARBIN TIANYU REHABILITATION MEDICAL ROBOT CO LTD
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