Hip joint boosting device based on parallel mechanisms

Abstract

The invention discloses a hip joint boosting device based on parallel mechanisms. The boosting device comprises a waist support assembly, two constraint assemblies and two execution assemblies; each execution assembly comprises a leg clamping sub assembly, a sensor sub assembly, a fixing plate and two driving branch chain sub assemblies, the driving branch chain sub assemblies are connected with the waist support assembly and the corresponding fixing plates and are UPS branch chains which are symmetrically distributed relative to the front and back of the leg of a person, and each sensor sub assembly is connected with the corresponding leg clamping sub assembly and the corresponding constraint assembly. According to the hip joint boosting device based on the parallel mechanisms, by means of the design of the constraint assemblies and the execution assemblies, three-degree-of-freedom rotation of the device can be achieved, it is guaranteed that the rotation center of the device is overlapped with that of hip joints of different patients, and injuries caused by human-machine interference force is effectively avoided; meanwhile, the structure is simple, and use is convenient.

Description

technical field [0001] The invention belongs to the field of lower limb assisting devices, in particular, relates to a hip joint assisting device based on a parallel mechanism, which is mainly applicable to medical fields such as lower limb hip joint assisting training. Background technique [0002] The lower limb assist device is a mechanical system that can be worn on the outside of the patient. It helps the patient lift the lower limbs that are about to step forward through the installed driver, supplemented by angular displacement sensors and joint torque sensors, and at the same time increases the force of pushing the ground. Thereby expanding their stride and range of motion when they walk, and realizing the functions of assisting, walking and assisting rehabilitation therapy. [0003] The hip joint is the weight-bearing joint of the human body and participates in sports, so it is extremely prone to injury. If the hip joint is injured, if it is not treated in time, it ...

AI Technical Summary

Problems solved by technology

The existing hip joint assisting devices each have their corresponding problems: the degree of freedom is relatively small, and only a small rotation angle can be realized, which cannot meet the patient's requirements for multi-degree-of-freedom and large-angle rehabilitation training. Some assisting devices are Redundant drive, complex structure, troublesome to wear, cannot guarantee that the center of rotation of the device coincides with the center of rotation of the hip joint, or can only use the restraint of the affected limb to achieve power-assisted rehabilitation training with the hip joint as the center of rotation

This will cause unnecessary interference and damage to the affected limb that has already suffered from the disease, which is not conducive to assisting rehabilitation training

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