A mechanical leg of a lower limb rehabilitation robot

Abstract

The invention discloses a mechanical leg of a lower limb recovery robot. The mechanical leg comprises a hip joint transmission assembly, a thigh length-adjusting assembly, a knee joint transmission assembly, a shank length-adjusting assembly, an ankle joint transmission assembly and a sole sensing assembly, wherein the hip joint transmission assembly comprises a hip joint motor, a hip driving belt pulley, a hip measuring driving belt pulley, a hip measuring driven belt pulley, a hip encoder, a hip driven belt pulley, a hip speed reducer, a hip transmission shaft and a first torque sensor; the thigh length-adjusting assembly comprises a thigh support and a first electric push rod; the knee joint transmission assembly comprises a knee joint motor, a knee driving belt pulley, a knee driven belt pulley, a knee measuring belt pulley, a knee encoder and a second torque sensor; the shank length-adjusting assembly comprises a shank upper support, a shank lower support, a second electric push rod and an electronic ruler; and the sole sensing assembly comprises a six-dimensional force sensor. The mechanical leg of the lower limb recovery robot can adapt to patients with different body heights and recovery training requirements in different postures, and is safe and reliable.

Description

technical field [0001] The invention belongs to the technical field of medical devices, in particular to a rehabilitation robot. Background technique [0002] With the development of the times, the aging of my country's population is becoming more and more serious, and the occurrence of diseases such as cerebral infarction and paraplegia will lead to a large number of physically disabled people. In addition, the number of patients with lower limb motor dysfunction caused by accidents such as traffic accidents and sports disabilities is increasing year by year. For the recovery of these patients, in addition to treatment such as surgery and drugs, scientific rehabilitation training is also extremely important. According to statistics, there are about 24.07 million physically disabled people in my country at present, and relying solely on physical training by rehabilitation doctors is far from meeting the needs of patients. As an automated rehabilitation medical device, the ...

AI Technical Summary

Problems solved by technology

[0004] Using a mechanical leg with a structure similar to that of the human body to drive the human leg to perform rehabilitation training is more effective. However, for patients of different heights, using the same mechanical leg for training cannot guarantee the alignment between the mechanical leg's crank axis and the human leg. The joint axes are similar or coincident, which will affect the training effect. In severe cases, it may pose a safety hazard to rehabilitation training. On the other hand, patients have different joint axis movement curves in sitting training and lying training.

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