Four-degree-of-freedom ankle joint rehabilitation robot capable of assisting training

Abstract

The invention discloses a four-degree-of-freedom ankle joint rehabilitation robot capable of assisting training. The robot comprises a shank upper fixed sleeve, a shank lower fixed sleeve and a rigidsole, and a wrapping structure which is made from a flexible material and wraps the shank, the ankle joint and the instep is connected among the shank upper fixed sleeve, the shank lower fixed sleeveand the rigid sole. The robot at least has the advantages of being easy to wear, easy to disassemble, lighter, simple and reliable in structure, capable of fixing injured ankle more comfortably and stably and performing rehabilitation training more conveniently, more efficient and the like.

Description

technical field [0001] The invention relates to a four-degree-of-freedom auxiliary training ankle joint rehabilitation robot. Background technique [0002] The traditional foot and ankle rehabilitation device is to fix the ankle joint and reduce the secondary injury to the ankle joint by reducing the range of motion of the ankle joint in daily life, so as to play a role in rehabilitation and protection. [0003] But when the ankle sprain is severe, ankle mobility training is required during the rehabilitation process, that is, allowing the ankle joint to move within a certain range. Although the traditional ankle fixation method can protect the stable state of the affected area, it reduces the joint's mobility and cannot achieve the best rehabilitation effect. Moreover, long-term wearing of this kind of rehabilitation brace with concentrated stress and restricted activities is likely to cause blood No circulation, stiff muscles, swelling and tingling, very uncomfortable. ...

AI Technical Summary

Problems solved by technology

Although the traditional ankle fixation method can protect the stable state of the affected area, it reduces the joint's mobility and cannot achieve the best rehabilitation effect. Moreover, long-term wearing of this kind of rehabilitation brace with concentrated stress and restricted activities is likely to cause blood Imperfect circulation, muscle stiffness, swelling and tingling, very uncomfortable

[0004] In terms of mechanical structure, the current six-degree-of-freedom ankle rehabilitation robot has a complex mechanical structure. For the ankle joint of a person with only three degrees of freedom at most, the six-degree-of-freedom can precisely adjust the posture of the ankle. However, the increased redundant degrees of freedom will still increase the complexity of the rehabilitation training system, and lead to excessive volume and weight of the rehabilitation device, which will also increase the load on the affected area and reduce the comfort of wearing

[0005] In terms of control methods, simply increasing the range of motion of the ankle through the driver may cause secondary damage to the patient's affected area. If a rehabilitation training plan cannot be properly formulated according to the location and severity of the patient's affected area, at least it will cause damage to the affected area. It cannot achieve effective rehabilitation, and in severe cases, it will cause pain or secondary damage to the patient

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