Ankle joint rehabilitation robot

Abstract

The invention relates to an ankle joint rehabilitation robot, and belongs to the field of medical care rehabilitation engineering. The ankle joint rehabilitation robot disclosed by the invention comprises a movable platform, a fixed platform and movement branched chains, wherein the movable platform is connected with the fixed platform through three movement branched chains; each movement branchedchain comprises a sliding pair and a universal pair fixed to two ends of each sliding pair; each universal pair consists of a first rotating pair and a second rotating pair; each first rotating pairis fixed to the end of the corresponding travelling pair; when each universal pair is connected to the corresponding sliding pair and the movable platform, the corresponding second rotating pair is fixed to the movable platform; when each universal pair is connected to the corresponding travelling pair and the fixed platform, the corresponding second rotating pair is fixed to the fixed platform; rotating axes of two second rotating pairs fixed to each movement branched chain are crossed at a point; and the movable platform is provided with pedals for fixing soles. The ankle joint rehabilitation robot disclosed by the invention has two rotation freedom degrees and a traveling freedom degree, can drive human body foot ankles to realize movement of forward rotation / backward rotation, and inward inversion / outward inversion, and can realize regulation of the height of rotating axes to guarantee that the rotating axes mutually coincide with the movement axis of the human body ankle joint.

Description

technical field [0001] The invention relates to the field of medical rehabilitation engineering, in particular to an ankle joint rehabilitation robot. technical background [0002] The ankle joint is an important load-bearing and sports joint of the human body. The ankle joint plays an important role in the standing and walking of the human body. Because the ankle joint bears a lot of weight during exercise and is particularly prone to injury due to its own structural characteristics, there are Many people have damaged ankle joints due to sports injuries, strokes, ankle joint diseases and other reasons, and have lost their normal ability to exercise. Medical research shows that scientific and effective rehabilitation training can speed up the healing of damaged tissues, help restore ligament proprioception, prevent joint adhesion, maintain joint flexibility, and speed up joint recovery. It plays a very important role in the recovery of patients' motor functions. [0003] Th...

AI Technical Summary

Problems solved by technology

[0004] At present, there are some types of ankle joint rehabilitation devices on the market, but some of the existing ankle joint rehabilitation devices cannot achieve the coincidence of the rotation center of the mechanism and the ankle joint motion center, and some devices only have 1 or 2 degrees of freedom, which do not meet the needs of the ankle joint. The requirements of rehabilitation training, the training mode does not meet the needs of the human body structure, and it is easy to cause secondary damage to the patient

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