Gait rehabilitation robot for implementing walking foot posture

Abstract

The invention discloses a gait rehabilitation robot for implementing walking foot posture. The robot comprises a rack, a power device and a transmission device, wherein a suspension device is arranged on the rack; end actuation mechanisms are arranged on left and right sides of the rack, have the same structure, and have the motion phase angle of 180 degrees; the power device is used for driving the two end actuation mechanisms through the transmission device; the suspension device is used for partially reducing weight of a patient, and the end actuation mechanisms are used for driving foot movement of the patient by virtue of pedals, so that the lower limbs are driven to complete the gait rehabilitation training. According to the gait rehabilitation robot, each end actuation mechanism comprises a track generation unit and a posture control unit, the track generation unit is used for generating wrinkle joint motion tracks, and the posture control unit is used for controlling the foot posture; and the foot posture when a user walks normally can be accurately implemented due to the combined mechanism formed by the end actuation mechanisms and connecting rods through cams, and the robot can be controlled only by a uniform-velocity motor. The gait rehabilitation robot has a good rehabilitation training effect and low manufacture cost, and is suitable for general families.

Description

technical field [0001] The invention relates to a robot in the field of rehabilitation medical equipment, in particular to a gait rehabilitation robot capable of realizing the posture of a human foot during normal walking. Background technique [0002] Stroke is a worldwide disease with high morbidity, and its existence has seriously affected human life and health. Stroke has a serious impact on walking function. According to analysis, nearly 2 / 3 of stroke survivors will lose their walking ability. Therefore, regaining walking ability and restoring standing balance function are the key links in the rehabilitation treatment of stroke patients. Clinical studies have shown that repeated and precise rehabilitation training can effectively alleviate symptoms. In response to this goal, developed countries such as Europe and the United States have developed robots such as Lokomat, ALEX, and LOPES to help patients complete rehabilitation training. However, this type of robot syst...

AI Technical Summary

Problems solved by technology

Chinese Patent No. 201210277695.9 discloses "a device that drives people to perform gait training by binding feet and calves." With the help of a planar link combination mechanism, a movement trajectory closer to normal gait is generated, but it fails to realize the foot movement during walking. attitude

Chinese Patent No. 201110160875.4 discloses "pedal gait rehabilitation trainer phalanx joint rehabilitation mechanism", this mechanism has the driving ability of thigh, calf, ankle and phalanx, but it is still quite different from the posture of people in normal walking

US Patent No. WO2013033855A3 discloses "Gait training apparatus forgenerating a natural gait pattern", the robot can well realize the normal foot posture, but it still needs to design a complex control system to realize the robot speed control

Images