A parallel knee exoskeleton mechanism for rehabilitation

An exoskeleton and knee joint technology, applied in passive exercise equipment, physiotherapy, gymnastics equipment, etc., can solve the problems of human knee joint anatomical movement can not be completely matched, exoskeleton is not wearable, etc., to achieve friendly wearable performance, effective energy-saving effect

Active Publication Date: 2019-10-15
XI AN JIAOTONG UNIV +1
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Problems solved by technology

[0002] Most of the existing exoskeleton mechanisms for knee joint rehabilitation are rigid-body linkage mechanisms with fixed-axis rotation, or rigid-body four-bar mechanisms. Their high stiffness characteristics can support the human body very well, but their mechanism movement is different from that of human knee joints. Anatomical movement does not fit perfectly, making the exoskeleton not wearable friendly

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  • A parallel knee exoskeleton mechanism for rehabilitation
  • A parallel knee exoskeleton mechanism for rehabilitation
  • A parallel knee exoskeleton mechanism for rehabilitation

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Embodiment Construction

[0013] The present invention will be further described below in conjunction with drawings and embodiments.

[0014] Such as figure 1 , figure 2 and image 3 As shown, a parallel knee exoskeleton mechanism for rehabilitation includes a calf exoskeleton 2, the top of the calf exoskeleton 2 is connected to the base 4, and one side of the base 4 is connected to one side of the thigh exoskeleton 3 through a flexible component. The other side of the base 4 is connected with the other side of the thigh exoskeleton 3 through a rigid part, and the base 4, the flexible part and the rigid part are provided with a shell 1 outside.

[0015] Such as figure 2 As shown, the flexible part includes a left connecting frame rod 7 and a right connecting frame rod 8, the upper end of the left connecting frame rod 7 is hinged with the lower end of the thigh exoskeleton 3 through bolts, and the left connecting frame rod 7 The lower end is connected with the left frame slider 10 through the left...

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Abstract

A parallel knee joint exoskeleton mechanism for rehabilitation comprises a shank exoskeleton, the top end of the shank exoskeleton is connected with a base, one side of the base is connected with oneside of a thigh exoskeleton through a flexible component, the other side of the base is connected with the other side of the thigh exoskeleton through a rigid component, and shells are arranged outside the base, the flexible component and the rigid component. A four-bar flexible hinge and rigid component parallel mechanism is adopted, the rigid component is used for providing supporting force forthe exoskeleton, exoskeleton motion and knee joint motion coincide by using a four-bar flexible hinge, and the exoskeleton has an effective energy-saving effect by means of elastic deformation of theflexible hinge.

Description

technical field [0001] The invention relates to the technical field of rehabilitation exoskeleton, in particular to a parallel knee joint exoskeleton mechanism for rehabilitation. Background technique [0002] Most of the existing exoskeleton mechanisms for knee joint rehabilitation are rigid-body linkage mechanisms with fixed-axis rotation, or rigid-body four-bar mechanisms. Their high stiffness characteristics can support the human body very well, but their mechanism movement is different from that of human knee joints. Anatomical motion does not fit perfectly, making the exoskeleton not wearable. Contents of the invention [0003] In order to overcome the above-mentioned shortcomings of the prior art, the object of the present invention is to provide a parallel knee joint exoskeleton mechanism for rehabilitation, which can completely match the anatomical movement of the human knee joint, and the exoskeleton has friendly wearability. [0004] In order to achieve the abo...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61H1/02A63B23/04A63B21/00
Inventor 徐光华梁仍昊郑小伟吴一帆张四聪罗爱玲
Owner XI AN JIAOTONG UNIV
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