A portable ankle rehabilitation robot based on active intention control

Abstract

The invention relates to an active intention control-based portable ankle joint rehabilitation robot comprising a leg protection fixing mechanism, a walking-assisting mechanism connected to the leg protection fixing mechanism, a foot plate mechanism arranged on the leg protection fixing mechanism to be connected with the walking-assisting mechanism, and a gait correction mechanism connected to thefoot plate mechanism. A pressure sensor and a microprocessor are integrated on the foot plate mechanism. With a plantar pressure sensing system, a plantar pressure signal of a testee can be processedduring the test and active motion intention of the testee can be captured; the active motion intention is converted into a control instruction and the walking-assisting mechanism can be controlled and ankle dorsal flexure and plantar flexion rehabilitation and normal gait walk can be assisted for the testee; and the gait correction mechanism can be controlled and ankle inward turn and outward turn rehabilitation training can be completed. Reliable foundation is laid for the rehabilitation evaluation system and the training system; and the active intention control-based portable ankle joint rehabilitation robot has high overall control precision and great real-time control capability.

Description

technical field [0001] The invention relates to the field of medical rehabilitation equipment, in particular to a portable ankle joint rehabilitation robot for lower limbs. Background technique [0002] For patients with lower extremity motor function impairment caused by stroke, especially ankle joint motor dysfunction, especially for patients in the middle and late stages of stroke recovery, it generally refers to 4 to 12 weeks after the onset, which is equivalent to Brunstrom stage 3 to 4 In this period, the patient has obvious muscle spasm in the affected limb, and can actively move the affected limb, but the muscle activities are all joint movements. As the muscle spasms subside, selective muscle activity begins. Its clinical symptoms are manifested in that the ankle becomes a foot-drop posture, and abnormal gait such as "circling" will appear during walking. For such patients, effective scientific rehabilitation training is of great significance for maximally recover...

AI Technical Summary

Problems solved by technology

At present, ankle joint rehabilitation trainers mainly use single-degree-of-freedom rotating hinges as training equipment, which is difficult to meet the requirements of comprehensive ankle joint rehabilitation. At present, ankle joint rehabilitation trainers are mainly parallel-connected, requiring patients to be fixed on the seat for training, which is difficult to meet The patient completes gait correction and rehabilitation training driven by active intention while walking

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