Exoskeletal knee joint and ankle joint rehabilitation device

Abstract

The invention provides an exoskeletal knee joint and ankle joint rehabilitation device, which comprises a seat, a central control device, a battery and two lower limb parts which are identical in structure, wherein the central control device and the battery are fixedly arranged on the lower side of the seat; each lower limb part comprises an exoskeletal leg, an exoskeletal calf, a knee joint driving hydraulic cylinder, an ankle joint driving motor, a knee joint angle sensor and an ankle joint angle sensor; and on the basis of angle signals detected by virtue of the knee joint angle sensors and the ankle joint angle sensors, the knee joint driving hydraulic cylinders and the ankle joint driving motors, controlled by the central control device, are moved. With the application of the rehabilitation device disclosed by the invention, motions of knee joints and ankle joints of human lower limbs can be well implemented and assisted; and meanwhile, according to the rehabilitation device, the knee joints are subjected to hydraulic driving, so that a stable driving torque is guaranteed, and the ankle joints undergo motor driving, so that a response speed is accelerated. The device has the characteristics of simple structure, convenient operation and wearing and easy driving, and the device has a good motion effect.

Description

technical field [0001] The invention belongs to the research field of medical auxiliary therapy, and in particular relates to an exoskeleton type knee joint and ankle joint rehabilitation device. Background technique [0002] With the improvement of social living standards and the advancement of modern medical technology, the average life expectancy of our country continues to increase, and we are rapidly entering an aging society. As of 2010, the elderly population over 60 years old in my country has exceeded 178 million, accounting for 13.26% of the total population. Meanwhile, the elderly population over the age of 65 is about 119 million, accounting for 8.87% of the total population. On the other hand, with the acceleration of the pace of life and the increase of life pressure, stroke hemiplegia patients caused by cardiovascular and cerebrovascular diseases and nervous system diseases are increasing year by year. The incidence of stroke in my country is the highest in ...

AI Technical Summary

Problems solved by technology

Traditional rehabilitation treatment mainly relies on rehabilitation physicians to perform manual rehabilitation training on patients, which has many limitations: (1) the training parameters cannot be precisely controlled, and the therapeutic effect mainly depends on the experience and level of physicians; (2) one-on-one treatment by physicians, rehabilitation Low training efficiency and high labor intensity for physicians

[0004] Knee joint and ankle joint rehabilitation robots in the current society generally have disadvantages such as complicated operation methods, high prices, unstable transmission, and difficulty in wearing by rehabilitation patients.

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