Five-degree-of-freedom wearing type ankle rehabilitation walking robot and using method thereof

Abstract

The invention relates to a five-degree-of-freedom wearing ankle rehabilitation walking robot and using method thereof and is suitable for the left foot or the right foot. The five-degree-of-freedom wearing ankle rehabilitation walking robot comprises a rigid sole, a upper fixing sleeve on the shank and an upper fixing sleeve on the shank, the upper leg fixing sleeve, the lower leg fixing sleeve and the rigid sole are connected with a binding structure of a soft material covering the shank, the ankle joint and the foot and ankle, the two sides of the front end of the rigid sole are respectivelymovably connected with a telescopic first front electric push rod and a telescopic second front electric push rod, the two sides of the rear end of the rigid sole are respectively movably connected with a telescopic first rear electric push rod and a telescopic second rear electric push rod, and a telescopic third front electric push rod is movably connected at the top end of the front end of therigid sole. The five-degree-of-freedom wearing ankle rehabilitation walking robot at least has the advantages of not only meeting the change degree of freedom of different types of ankle rehabilitation training, but also avoiding waste of the mechanical material, facilitating the self-participation of the patient to carry out auxiliary training according to the self-condition, being convenient for storage and carrying, and the like.

Description

technical field [0001] The invention relates to a five-degree-of-freedom wearable walking robot 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 use...

AI Technical Summary

Problems solved by technology

[0004] 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.

[0005] Second, in terms of use and control methods, the teaching method relies too much on the doctor's initial operation, and there is no communication with the patient. The patient cannot perform rehabilitation training autonomously, and cannot fine-tune the recovery technique with the recovery of the injured part. , can only be passively operated and trained

Therefore, the teaching method and the control method of the device in the prior art are too monotonous, the patient's initiative is not strong, and the rehabilitation effect on the ankle is not active enough.

[0006] Third, the rehabilitation training devices in the prior art are generally bulky and inconvenient to carry and store

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