An exoskeleton-based wearable lower limb rehabilitation robot

Abstract

The invention provides an exoskeleton-based wearable lower limb rehabilitation robot comprising a waist device, two leg devices in left-right symmetry and two foot devices in left-right symmetry. The waist device is worn on a waist part of a human body and comprises a waist support part, a waist drive device, a waist movement component, a waist band and leg connecting members. The leg devices are in hinge joint with the waist device and are tightly tied to the legs of the human body via flexible tying belts, and each leg device comprises a leg drive device, a thigh part and a shank part. The foot devices are worn on the feet of the human body and are in hinge joint with the leg devices; each foot device comprises a foot drive device, a foot support and a bottom plate. The exoskeleton-based wearable lower limb rehabilitation robot can assist patients or old people in completing lower limb rehabilitation training including waist movement and improves the lower limb rehabilitation training effect; the robot is simple and compact in structure, is convenient to wear, can be worn by people of different body forms through an adjusting mechanism, and is wide in application range; the waist mechanism can meet the waist movement rules under different paces.

Description

technical field [0001] The invention relates to a medical rehabilitation device, in particular to a wearable lower limb rehabilitation robot based on an exoskeleton. Background technique [0002] With the aging population in our country, the number of patients with limb motor dysfunction caused by vascular diseases or nervous system diseases, which leads to hemiplegia, is increasing; The number of people who are unable to walk normally due to injury or limb impairment continues to increase, bringing a heavy burden to families and society. In the process of rehabilitation treatment, improving patients' walking ability and self-care ability is an important aspect for them to return to society. Therefore, restoring independent walking ability is the primary goal of rehabilitation treatment efforts. [0003] The lower limb rehabilitation robot is the product of rehabilitation engineering. It can guide the limbs to do various specified repetitive rehabilitation training through ...

AI Technical Summary

Problems solved by technology

[0005] The existing lower limb rehabilitation robots have the following defects and deficiencies: (1) The structural design of the lower limb rehabilitation robot is not anthropomorphic enough, including the configuration of degrees of freedom, the fit between the bone structure and the human body, and the adjustability to adapt to wearers of different sizes; 2) The research on lower limb rehabilitation robots mostly focuses on the leg mechanism and foot mechanism, and the research on the waist mechanism is less, ignoring the waist movement during walking training; (3) Most of the lower limb rehabilitation robots are bulky, too heavy, and functional Single, expensive, can not meet the needs of practical applications

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