Ankle joint rehabilitation mechanism with driving branch chains arranged obliquely

Abstract

The invention provides an ankle joint rehabilitation mechanism with driving branch chains arranged obliquely and relates to the field of rehabilitation medicine instruments. The ankle joint rehabilitation mechanism comprises a base, a movable platform, the driving branch chains and a restraining branch chain. The restraining branch chain comprises a lower rotating connecting rod, a first symmetric connecting rod, a second symmetric connecting rod and an upper arc connecting rod, wherein the lower rotating connecting rod is connected with a central shaft of the base through a bearing. The movable platform comprises a foot baffle, an upper platform body, a lower platform body and a connecting piece located between the two platform bodies, wherein the position, relative to the upper platform body, of the feet can be adjusted through the foot baffle and the connecting piece. The driving branch chains comprise the first driving branch chain, the second driving branch chain and the third driving branch chain, and the three driving branch chains are UPS branch chains arranged obliquely with the same oblique angle. By means of the structure, the movable platform can rotate in three mutually orthogonal directions, and meanwhile it can be ensured that the rotating center of the movable platform coincides with the rotating center of the ankles. The ankle joint rehabilitation mechanism is simple, stable in driving and low in cost; in addition, the driving branch chains are arranged obliquely to avoid the singular configuration of the mechanism, and good kinematic performance is achieved.

Description

technical field [0001] The invention relates to the field of rehabilitation medical equipment, in particular to a parallel mechanism for assisting ankle joint rehabilitation training. Background technique [0002] The ankle joint is one of the three major joints of the lower limbs of the human body, and is an important hub and load-bearing joint for human movement. In daily life, the ankle joint is directly involved in actions such as standing, striding, and jumping, and absorbs the impact from the ground to protect the joints. However, it is unavoidable that human beings evolved from four-legged apes , so after evolving into biped upright walking, human foot joints have congenital defects. This birth defect makes the human ankle one of the most vulnerable joints in the human body. If the ankle joint injury is not treated in a timely and correct manner, the damaged proprioceptive system will aggravate the instability of the ankle joint, leading to an increase in the probab...

AI Technical Summary

Problems solved by technology

If the ankle joint injury is not treated in a timely and correct manner, the damaged proprioceptive system will aggravate the instability of the ankle joint, leading to an increase in the probability of re-injury, and even cause other joint injuries, resulting in an adverse chain reaction

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