Wearable exoskeleton lower limb rehabilitation robot

Abstract

The invention belongs to the field of rehabilitation robots, and relates to a wearable exoskeleton lower limb rehabilitation robot. The exoskeleton lower limb rehabilitation robot comprises a supporting mechanism, a rack, a hip joint self-adaptation structure, a knee joint self-adaption structure and an ankle joint structure. Self-adaptability of the robot is the key point in design, fine-adjustment mechanisms are designed at the hip joint and the knee joint, the rehabilitation requirement for the single freedom degree can be met, actions of specific joints are achieved, and after a patient wears the robot, the patient feels more adaptive and comfortable; the probability of joint dislocation in the rehabilitation movement of the patient is greatly reduced, and rehabilitation of the athletic ability and control ability of the patient is effectively promoted.

Description

technical field [0001] The invention belongs to the field of rehabilitation robots and relates to a wearable exoskeleton lower limb rehabilitation robot. Background technique [0002] In recent years, as the problem of aging has gradually become prominent, the proportion of the elderly population has gradually increased. At the same time, due to the pollution and damage of people's living environment and food safety to varying degrees, there are more and more patients with hemiplegia and stroke. For these physically inconvenient people, the traditional rehabilitation training method not only consumes a lot of manpower, but also has high requirements on the technical level of rehabilitation teachers. Therefore, many scholars at home and abroad are gradually exploring wearable exoskeleton rehabilitation robots. design and manufacture. A wearable exoskeleton rehabilitation robot is a machine that has the ability to coordinate actions and can simulate human motion. It can withs...

AI Technical Summary

Problems solved by technology

[0003] The technical problem to be solved by the present invention: Most of the existing domestic wearable rehabilitation robots have little freedom, and the flexibility of human muscles will cause certain deviations in the limbs and joints when the limbs are in motion. In some designs, in order to make the structure simple, the number of drives used is less, so several joints are usually linked, and those joints without drives can only move under the drive of other joints with drives, so that When there is a need for rehabilitation with a single degree of freedom, the existing mechanism cannot successfully realize the movement of specific joints, which affects the effect of rehabilitation treatment

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