A movable parallel cable-driven lower limb rehabilitation robot and its implementation method

Abstract

The invention relates to a movable parallel wire driven lower limb rehabilitation robot and an implementation method thereof. The robot comprises a suspension weight reducing unit, a tension sensor, safety straps, a safety handrail, a spring, a door fence, wire driving units, universal driven wheels, a leg wearing device, a treadmill, rear driving wheels, wires, a supporting frame and a liquid crystal display screen. The whole robot is of a truss structure formed by the supporting frame, and the suspension weight reducing unit on the upper portion is connected with the safety straps through the wires; the movement of the waist of a patient is constrained through four groups of springs between four vertical beams on the left and on the right and between the safety straps; the liquid crystalscreen is arranged above the safety handrail on the front portion of the robot; the patient and a wheelchair enter and go out through the left door fence; four cross beams at corresponding positionsof an affected limb sagittal plane on each side are provided with the four wire driving units; the affected limb is driven for rehabilitation training by pulling the leg wearing device through the wires; the universal driven wheels are installed on the front portion of the bottom of the robot, and the rear driving wheels are arranged on the rear portion of the robot. The robot can achieve gait training and walking training in passive, power-assisted and active modes.

Description

technical field [0001] The invention relates to a medical rehabilitation training device, in particular to a movable parallel cable-driven lower limb rehabilitation robot and its implementation method. Background technique [0002] With the rapid development of society, people's living standards have been greatly improved, but sudden disasters such as natural disasters, accidents, and diseases have greatly reduced people's quality of life. Although modern medical technology can minimize the mortality rate after a disaster, the limb motor dysfunction caused by sudden disaster, especially the lower limb disorder, will seriously affect the life of patients thereafter. Studies have shown that correct and scientific sports rehabilitation training plays an important role in the recovery of motor function of patients. Robots can repeat complex training actions for a long time, with low cost, high efficiency, stability and reliability. Realizing lower limb rehabilitation training t...

AI Technical Summary

Problems solved by technology

However, it is difficult to achieve single-joint training and control the human-machine contact force; limited by the configuration, the range of motion of the affected limb is limited

[0004] At present, low-end lower limb rehabilitation products are simple and cheap, and have the most clinical applications, but they have single functions, low automation level, time-consuming and laborious, and unsatisfactory curative effects; high-end products start late in domestic research, have little clinical practice, are heavily dependent on imports, and have high costs. Difficult to popularize

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