Bidirectional driving ankle rehabilitation training exoskeleton

Abstract

The invention relates to the field of rehabilitation exoskeleton robots, in particular to a bidirectional driving ankle rehabilitation training exoskeleton, which has the advantages of simple structure, high bionic performance, easy driving, good movement effect and the like, can effectively help a wearer to carry out ankle rehabilitation training, can be easily mounted on the lower limb foot andthe lower leg part of the wearer through a foot sleeve and a calf sleeve, can carry out bidirectional driving through a first driving device and a second driving device on both sides of the calf sleeve, and provides two activities of plantar flexion and dorsiflexion of the foot for the wearer during walking, so that the power consumption of calf muscles of the wearer during walking is greatly reduced to assist the wearer in rehabilitation training, and the ankle walking function is recovered as soon as possible; and meanwhile, the first driving device and the second driving device carry out bidirectional driving ankle rehabilitation training, and the exoskeleton mechanism has high bionic performance, the walking process of the human body is optimized, and the compliance between the wearerand an orthosis robot.

Description

Technical field [0001] The invention relates to the field of rehabilitation exoskeleton robots, in particular to a two-way drive ankle joint rehabilitation training exoskeleton. Background technique [0002] Stroke, traffic accidents, cerebral palsy, etc. can cause the human body to lose the ability to walk in the lower limbs. The emergence of wearable lower limb exoskeleton robots can help patients perform rehabilitation training and restore their walking ability as soon as possible. At this stage, there are most researches on lower limb integrated mechanical exoskeleton equipment. This type of exoskeleton has a complex structure, is inconvenient for patients to wear, and is not comfortable to use. It also increases lower limb injuries and lower limb muscle energy consumption during rehabilitation due to weight. Summary of the invention [0003] The technical problem to be solved by the present invention is to provide a two-way drive ankle joint rehabilitation training exoskeleto...

AI Technical Summary

Problems solved by technology

At this stage, most of the researches on lower limb integrated mechanical exoskeleton equipment, this type of exoskeleton has a complex structure, it is inconvenient for patients to wear, and the comfort is not high, and because of the weight, the lower limb injury and the energy consumption of lower limb muscles during the rehabilitation process are increased.

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