Novel ankle joint rehabilitation robot and control method thereof

A technology for rehabilitation robots and ankle joints, applied in the field of rehabilitation robots, can solve problems such as small range of motion, and achieve the effect of good flexibility and high stiffness

Active Publication Date: 2017-08-18
韶关星火创客科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

As shown in Table 1, the rotation range of each type of motion

Method used

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  • Novel ankle joint rehabilitation robot and control method thereof
  • Novel ankle joint rehabilitation robot and control method thereof
  • Novel ankle joint rehabilitation robot and control method thereof

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Experimental program
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Embodiment Construction

[0053] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0054] see Figure 1 to Figure 5 , a new type of ankle joint rehabilitation robot, including an electric control box 5, a base 1, a drive motor 4, an encoder, a 3-RRR spherical parallel mechanism 2 and a foot pedal 3; wherein, the 3-RRR spherical parallel mechanism 2 is located at the bottom Between the base 1 and the upper foot pedal 3, the 3-RRR spherical parallel mechanism 2 has three identical motion branch chains, and each branch chain is composed of three revolving pairs and two connecting rods. The 3-RRR spherical mechanism is A typical spherical parallel mechanism (SPM) has three pure rotation degrees of freedom, and the rotation axes intersect at one point, which is the rotation center of the 3-RRR spherical mechanism O point, the axis of each rotating pair of each kinematic branch chain also intersects at O point, first, at the center of rot...

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Abstract

The invention relates to a novel ankle joint rehabilitation robot. The robot includes an electric control box, a base, a drive motor, an encoder, a 3-RRR spherical parallel mechanism and a foot pedal; the 3-RRR spherical parallel mechanism is located between the base on the bottom and the foot pedal on the upper portion and has three identical motion branch chains, each branch chain is composed of three revolute pairs and two connecting rods, the 3-RRR spherical parallel mechanism has three pure rotational freedom degrees, all rotating axes are intersected at one point, the point is the rotation central point O of the 3-RRR spherical parallel mechanism, and axes of the revolute pairs of all the motion branch chains are also intersected at the point O. Since the 3-RRR spherical parallel mechanism has three rotational freedom degrees, the work space can meet the range requirement of all ankle joint movement angles; meanwhile, the physiological characteristics that the ankle joint is high in rotation flexibility and strong in bearing capacity are also achieved.

Description

technical field [0001] The invention belongs to the technical field of rehabilitation robots, and relates to a control method of a novel ankle joint rehabilitation robot. Background technique [0002] Rehabilitation robots are a class of automated devices that assist patients or the elderly in their daily exercises. In recent years, the research on robot-assisted physical therapy is in the ascendant, mainly due to the fact that rehabilitation training is a lot of repetitive work. Rehabilitation practitioners have a heavy workload and are prone to fatigue. This type of work is the strength of robots. The ankle joint rehabilitation robot is a typical representative. The ankle joint is an important joint for the human body to maintain gait balance and bear weight, and it has the function of three-degree-of-freedom rotational movement around the anatomical plane. Ankle sprain is a common lower extremity sports injury with slow recovery. The use of robotic technology for ankle...

Claims

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Application Information

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IPC IPC(8): A63B23/08A63B21/02A63B24/00A63B71/06
CPCA63B21/02A63B23/08A63B24/0075A63B24/0087A63B71/0622
Inventor 魏志丽叶晖李福运胡庆国李梓明
Owner 韶关星火创客科技有限公司
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