Parallel ankle rehabilitation robot and control method thereof

Abstract

The invention discloses a parallel ankle rehabilitation robot and a control method. The parallel ankle rehabilitation robot comprises a base, a driving mechanism and a motion mechanism, wherein the base is provided with a supporting frame in an inserting way; the supporting frame is movably provided with an adjusting mechanism in a clamping way; the adjusting mechanism comprises a main rod, a front arm rod and a leg supporting rod; the front end of the main rod is hinged to the front arm rod; the leg supporting rod is connected with the main rod; the front arm rod is provided with a connecting rod; the main rod is in movable clamping arrangement with the supporting frame; pneumatic muscle or a linear motor is used as a driver; the front end of the driving mechanism is connected with the connecting rod in the adjusting mechanism; the tail end of the driving mechanism is connected with the motion mechanism; the motion mechanism is in movable clamping arrangement with the rear end of the main rod. According to the parallel ankle rehabilitation robot disclosed by the invention, a motion range can be adjusted, so that the parallel ankle rehabilitation robot can adapt to different users for use, and three-DOF (Degree of Freedom) motion training of ankle joints can be covered; since the pneumatic muscle is adopted as the driver, the parallel ankle rehabilitation robot has the advantages of good flexibility, high adaptability and the like.

Description

technical field [0001] The invention relates to the technical field of medical devices, in particular to a parallel ankle rehabilitation robot and a control method thereof. Background technique [0002] The ankle joint is one of the largest weight-bearing joints in the human body. It is easy to cause joint and muscle damage due to improper exercise (such as running, jumping, walking), disease (such as stroke, hemiplegia), accidents (car accident, accident) and other reasons. The ankle joint has three degrees of freedom of motion: dorsiflexion / plantarflexion, varus / valgus, and adduction / abduction. Traditional ankle rehabilitation mainly relies on the one-on-one hands-on training of the therapist, and it is difficult to achieve high-intensity, targeted and repetitive rehabilitation training requirements. At present, many scientific research institutions at home and abroad have carried out research and development and clinical trials of ankle rehabilitation robots, and have ma...

AI Technical Summary

Problems solved by technology

[0003] Most of the existing ankle rehabilitation robots use rigid drive mechanisms as drives, such as linear motors or motors. Due to the rigid nature of the drive, this kind of robot has poor compliance, and it is easy to generate uncontrollable forces in the robot control, which is harmful to patients. Bring recovery discomfort and even secondary injury

In addition, the rotation center (main movement) of many ankle-joint robots is inconsistent with the rotation center of the human ankle. During the training process, other parts of the lower limbs will move along with it, not just the ankle joint, so effective training of the ankle joint cannot be guaranteed.

At the same time, the adjustable range of motion of most ankle joint rehabilitation robots is very small, and can only achieve two degrees of freedom of movement, which cannot meet the training postures required by different patients and the full range of rehabilitation needs for ankle joint rehabilitation.

[0004] Moreover, the current ankle joint rehabilitation robots are mainly based on passive training mode. Patients perform repetitive passive training with the assistance of the robot, which cannot complete intelligent and active training based on real-time interaction, and cannot improve the enthusiasm of patients to participate in training, thus limiting its healing effect

For example, Chinese patent 200810052248.7 discloses an ankle joint rehabilitation robot, the control part of which only realizes the basic motion control of the robot, and does not consider the patient's active movement intention during the training process; Chinese patent 201310006399.X discloses an active / passive The ankle joint rehabilitation training device only realizes semi-active training through the mechanical characteristics of the device, and does not provide more information on the active control strategy of the ankle joint robot itself

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