Five-degree-of-freedom wearable ankle rehabilitation walking device and use method thereof

Abstract

The invention relates to a five-degree-of-freedom wearable ankle rehabilitation walking device. The device comprises a rigid sole, a shank upper fixed sleeve and a shank lower fixed sleeve, and a wrapping structure which is made from a flexible material and wraps the shank, the ankle joint and the ankle is connected among the shank upper fixed sleeve, the shank lower fixed sleeve and the rigid sole; a first telescopic front linear actuator and a second elastic linear actuator are movably connected to the two sides of the front end of the rigid sole respectively, a first telescopic rear linearactuator and a second telescopic rear linear actuator are movably connected to the two sides of the rear end of the rigid sole respectively, and a third front linear actuator is movably connected to the top of the front end of the rigid sole. The device at least has the advantages that the change degree of freedom of ankle rehabilitation training of different types can be met, waste of mechanicalmaterials cannot be caused, and the auxiliary function that a patient can perform ankle rehabilitation training and normal walking in the treatment period can be achieved.

Description

technical field [0001] The invention relates to a five-degree-of-freedom wearable walking device for ankle rehabilitation and a use method thereof. Background technique [0002] General ankle rehabilitation training devices are divided into wearable and non-wearable parallel mechanisms. This parallel mechanism has the characteristics of two platforms with multiple degrees of freedom. One of the platforms is stationary, and the pose of the other platform is changed by changing the length of the 6 driving rods or the length of the 3 driving rods, so as to automatically perform back extension on the injured ankle. Rehabilitation actions such as turning and circling. The mechanical mechanism of the 6-drive lever can also be fine-tuned according to the different sizes of the ankle and the location of the injury. Generally, this technology also uses a computer to record the follow-up data of the doctor's initial treatment of the injured ankle through a parallel mechanism, and us...

AI Technical Summary

Problems solved by technology

[0005] One is that the parallel mechanism with 3 degrees of freedom or 6 degrees of freedom is generally used, and the 3 degrees of freedom is prone to the problem of incompatibility with the ankle injury position, while the parallel mechanism with 6 degrees of freedom has a lot of unnecessary waste of mechanical materials

Therefore, for the rehabilitation training of patients with ankle injuries, the 3-DOF rehabilitation device driven by the 3-drive rod is too small, and the 6-DOF parallel mechanism is too redundant for ankle rehabilitation.

[0006] The second is that the general rehabilitation training device is only suitable for the part of rehabilitation training, while the general exoskeleton mechanism for assisting walking is generally aimed at patients with paralysis of the lower limbs, and does not have the function of rehabilitation training

Because most ankle rehabilitation machines do not touch the ground, they are generally only used by patients during rehabilitation training, and do not have the function of assisting walking

However, the usual exoskeleton mechanism for assisting walking is too redundant for simple ankle injuries, and the pertinence is not strong. Basically, the mechanism for assisting walking with ankle injuries is not specially designed for ankle rehabilitation.

Images