A parallel ankle joint rehabilitation robot and its control method

Abstract

The invention discloses a parallel ankle joint rehabilitation robot and a control method, comprising a base, a support frame is inserted into the base, and an adjustment mechanism is movable on the support frame, and the adjustment mechanism includes a main rod, a forearm rod and a leg The front end of the main rod is connected to the forearm rod, the leg support rod is connected to the main rod, the connecting rod is connected to the forearm rod, and the main rod and the support frame are movable and clamped; it also includes an adjustment mechanism and a movement mechanism, which adopts pneumatic A muscle or a linear motor is used as a driver, the front end of the driving mechanism is connected to the connecting rod in the adjustment mechanism, the end of the driving mechanism is connected to the kinematic mechanism, and the kinematic mechanism is movably clamped to the rear end of the main rod. The robot disclosed by the invention can adjust the range of motion to adapt to the use of different patients, and can cover three degrees of freedom of ankle joint exercise training. It uses pneumatic muscles as drivers and has the advantages of good flexibility and strong adaptability.

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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