Four-limb exoskeleton rehabilitation robot

Abstract

The invention provides a four-limb exoskeleton rehabilitation robot, in which a left-right exoskeleton base frame is installed on a robot turnover bed through a width adjusting guideway and a slider;a left upper limb exoskeleton and a right upper limb exoskeleton are installed at the upper ends of a left exoskeleton base frame and a right exoskeleton base frame, respectively; a left lower limb exoskeleton and a right lower limb exoskeleton are installed at the lower ends of the left exoskeleton base frame and the right exoskeleton base frame, respectively; a width adjusting mechanism is installed between the left exoskeleton base frame and the right exoskeleton base frame, and fixed on the robot turn-over bed; a shoulder height adjusting mechanism is installed at the upper parts of the left upper limb exoskeleton and the right upper limb exoskeleton, and fixed on the robot turn-over bed; a leg length adjusting mechanism is installed on the left lower limb exoskeleton and the right lower limb exoskeleton; and a left-right shoulder joint rotary mechanism, a left-right hip joint rotary mechanism, a left-right knee joint rotary mechanism and a left-right ankle joint rotary mechanism are installed on shoulder joints of the left upper limb exoskeleton and the right upper limb exoskeleton and hip joints, knee joints and ankle joints of the left lower limb exoskeleton and the right lower limb exoskeleton, respectively. The invention realizes the adjustment of size range by electric push-rod motors, and uses servo motors to control joint movement, and the invention has the characteristics of saving cost, adjusting time and simplifying control process.

Description

technical field [0001] The invention belongs to the technical field of rehabilitation engineering, and in particular relates to a limb exoskeleton rehabilitation robot for performing rehabilitation training on patients with inconvenient limb movements based on the principle of neuroplasticity. Background technique [0002] Rehabilitation medicine is an emerging discipline, a new concept that emerged in the middle of the 20th century. Rehabilitation medicine, preventive medicine, health care medicine, and clinical medicine are collectively called "four major medicines". The medical discipline of medicine, that is, the prevention, diagnosis, assessment, treatment, training and management of dysfunction. Through various methods such as physical therapy, exercise therapy, life training, skill training, speech training and psychological counseling, the sick and disabled can be recovered to the maximum extent as soon as possible, so that the functions of the remaining parts of th...

AI Technical Summary

Problems solved by technology

[0005] 1. No upper body structure;

[0006] 2. The length of the legs cannot be adjusted electrically, and the manual positioning pin is used to adjust the length intelligently, which is difficult and complicated to operate;

[0007] 3. The ankle joint is not driven by a motor, so it is impossible to realiz

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