Lower limb rehabilitation external skeleton system and drive-driven adjustable joint thereof

Abstract

The invention relates to a lower limb rehabilitation external skeleton system and a drive-driven adjustable joint thereof and belongs to the technical filed of medical robots. The lower limb rehabilitation external skeleton system comprises a waist wearing unit, a hip joint unit, a thigh rod unit, a knee joint unit, a crus rod unit, an ankle joint unit and a sole unit which are connected with oneanother from top to bottom in sequence; each joint unit comprises a joint driver, a first joint base and a second joint base, wherein the first joint base and the second joint base can relatively rotate around a joint rotation shaft; in one or more joint units, one of a stator and a rotor of each joint driver is in transmission connection with the corresponding first joint base, and the other oneof the stator and the rotor of each joint driver is in separable transmission connection with the corresponding joint base through a braking mechanism. Based on structural arrangement of the drive-driven adjustable joint, the lower limb rehabilitation external skeleton system can be better matched with rehabilitation personnel of different patient levels and widely applied to rehabilitation training of patients with lower limb weakness or hemiplegia.

Description

technical field [0001] The invention relates to a medical robot and its accessories, in particular to a master-slave adjustable joint and a lower limb rehabilitation exoskeleton system constructed with the joint. Background technique [0002] At present, my country has gradually entered into an aging society, and the number of elderly people is increasing day by day. The main disease faced by a considerable part of the elderly group is stroke. In addition, various accidents are also increasing, resulting in a large number of patients with limb dysfunction. According to incomplete statistics, the number of patients mentioned above has exceeded 8 million; in this huge patient group, a considerable part of patients can improve or restore their motor function through rehabilitation training. [0003] Commonly used rehabilitation training is mainly to complete rehabilitation training under the guidance of professional doctors and with the help of nurses or family members. This tr...

AI Technical Summary

Problems solved by technology

For the medical version, there are the following problems in the use process. According to the differences of patients, the structural design of the medical lower extremity exoskeleton mainly considers the size difference of the patient, and the lower extremity exoskeleton is set to have a size adjustment function; however, different patients except In addition to the difference in size, the grades of patients are also different. For example, some patients have half of their limbs weak and have movement disorders, some patients have only a single joint movement disorder, and some patients are completely paralyzed. Therefore, only medical devices with adjustable sizes are considered in terms of structure. Lower extremity exoskeletons do not adapt well to patients of various patient classes

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