Human-computer fusion knee joint rehabilitation robot

Abstract

The invention discloses a human-computer fusion knee joint rehabilitation robot. The robot comprises a thigh clamp, a shank clamp, a human knee joint, a first movement branch and a second movement branch. According to the knee joint rehabilitation robot, the knee joint rehabilitation effect is improved. The human-computer fusion knee joint rehabilitation robot improves the knee joint rehabilitation effect. The human-computer fusion knee joint rehabilitation robot improves the knee joint rehabilitation effect and achieves automatic compensation of instantaneous rotation center dislocation in flexion and extension movement of the knee joint of the human body, the knee joint is prevented against secondary injury, and the rehabilitation effect of the knee joint can be well enhanced. The human-computer fusion knee joint rehabilitation robot belongs to a completely decoupling parallel mechanism and is simple and convenient to control compared with a coupling parallel mechanism. The human-computer fusion knee joint rehabilitation robot belongs to an asymmetric parallel mechanism and has a large working space compared with a symmetric parallel mechanism.

Description

technical field [0001] The invention relates to the technical field of medical devices, in particular to a human-machine fusion knee joint rehabilitation robot. Background technique [0002] With the development of science and technology, medical robot technology has developed rapidly. In recent years, rehabilitation robots have made good progress in rehabilitation medicine. Since the robot does not have the problem of fatigue, it can meet the training intensity requirements of different patients and is suitable for patients to perform rehabilitation training alone. The knee joint is one of the most complex joints in the lower limbs of the human body, which is easily damaged and difficult to recover. The flexion and extension movement of the knee joint is a compound movement that can be decomposed into translation and rotation. [0003] However, the knee joint rehabilitation robot in the prior art only simplifies the knee joint into a single rotating shaft. During the movem...

AI Technical Summary

Problems solved by technology

[0003] However, the knee joint rehabilitation robot in the prior art only simplifies the knee joint into a single rotating shaft. During the movement, the instantaneous center of rotation between the human knee joint and the exoskeleton knee joint will deviate, and it cannot be guaranteed to overlap at any time, so that the human knee joint and the exoskeleton knee joint can not be overlapped at any time. A relative displacement occurs between the exoskeleton and additional forces and moments are generated where the two are bound

Although the relative movement between the two is compensated by the deformation of soft tissues such as muscles, the force and torque will have a negative impact on the rehabilitation process, affect the final rehabilitation effect, and may even cause serious secondary injuries to the patient.

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