Multi-degree-of-freedom self-adaptive exoskeleton for knee joint rehabilitation training

Abstract

The invention relates to a multi-degree-of-freedom self-adaptive exoskeleton for knee joint rehabilitation training. The exoskeleton comprises a thigh bandage, a fixing shell, a self-adaptive follow-up device, a shank driving plate and a shank bandage; and the self-adaptive follow-up device comprises a driving belt wheel, a synchronous belt wheel, a transition belt wheel, a driven belt wheel, an upper connecting plate and a lower connecting plate. The exoskeleton is fixed on the thigh and the shank on the same leg of a patient through the thigh bandage and the shank bandage respectively, the driving belt wheel drives the synchronous belt wheel which is coaxially fixed with the driving belt wheel through the drive of a driving belt, and the synchronous belt wheel transmits power to the transition belt wheel through an upper transmission belt; the transition belt wheel is used for continuously transmitting the power to the driven belt wheel through a lower transmission belt, and the driven belt wheel drives the shank driving plate which is fixed by the driven belt wheel to swing; the shank driving plate drives the shank to swing through the shank bandage; and the exoskeleton is usedfor driving the shank to swing in a reciprocation mode so as to achieve the purpose of performing knee joint rehabilitation training, the structure is compact, and the adaptability is good.

Description

technical field [0001] The invention relates to the technical field of medical rehabilitation equipment, in particular to a multi-degree-of-freedom self-adaptive knee joint rehabilitation training exoskeleton. Background technique [0002] With the advancement of science and technology and the popularization of social medical and health services, rehabilitation robots have also developed rapidly. The lower extremity rehabilitation exoskeleton robot belongs to the rehabilitation robot, which can replace the traditional medical rehabilitation teacher to carry out one-on-one rehabilitation training for patients with physical impairments, train the injured muscles through limb movements, stimulate the repair and regeneration of the nervous system, and make the injured parts Get the maximum recovery or reconstruction, so as to finally restore the patient's ability to walk independently. The lower extremity rehabilitation exoskeleton is to assist the human body to straighten the ...

AI Technical Summary

Problems solved by technology

However, the instantaneous motion center curve of the human physiological knee joint depends on the physical structure and shape of the tibia and femur, and each person's knee joint is unique and unique; The sliding friction that will be generated will cause more or less positional deviations between the lower extremity exoskeleton and the human body at the knee joint. The greater the deviation, the greater the contact pressure generated by the physical contact interface between the human body and the exoskeleton. The wearer's knee joint and nearby soft tissues will bear greater additional load, the light one will cause the wearer to feel uncomfortable, and the heavy one will cause the wearer's secondary injury

Images