Lightweight lumbar auxiliary rehabilitation exoskeleton robot

Abstract

The invention provides a lightweight lumbar auxiliary rehabilitation exoskeleton robot. The lightweight lumbar auxiliary rehabilitation exoskeleton robot comprises a back spinal traction mechanism, aspinal lumbar bionic mechanism, a spinal lumbar driving mechanism, an intelligent adjustable elastic waistband, an abdominal fixing supporting mechanism, a spinal rehabilitation exoskeleton leg fixingmechanism, a back supporting mechanism, a spinal exoskeleton handheld terminal and a driving control box, wherein the spinal lumbar driving mechanism moves along the back supporting mechanism under the control of the driving control box to cause the bionic deformation of the spinal lumbar bionic mechanism, thereby driving a wearer to achieve traction exercise training of the lumbar front and rearflexion and extension; the back spinal traction mechanism moves up and down under the control of the driving control box, so that the effect is achieved that human body load above the lumbar vertebrae is transmitted to the spinal exoskeleton leg fixing mechanism through the back supporting mechanism and the abdominal fixing supporting mechanism, and the wearer achieves the rehabilitation trainingof the vertical lumbar traction. The lightweight lumbar auxiliary rehabilitation exoskeleton robot adopts integrated design, has a smaller volume, improves the load-to-weight ratio, and achieves intelligent wearable and multi-pose rehabilitation training.

Description

technical field [0001] The invention relates to an exoskeleton robot, in particular to a light-weight lumbar spine-assisted rehabilitation exoskeleton robot, which belongs to the field of service medical robots. Background technique [0002] Lumbar spondylosis is a common and frequently-occurring disease that seriously affects people's ability to work and live. Most people's bodies are in a sub-healthy state. Due to long-term lack of physical activity, muscle weakness, and poor blood circulation, the small joint capsules between the lumbar vertebrae are loosened, which accelerates changes in the vertebral body, especially lumbar disc herniation, strain, etc. Problems, which lead to the population of lumbar disc herniation and other diseases are increasing at an accelerated rate. According to the statistics of the Ministry of Health, the number of patients with lumbar spondylosis in my country has exceeded 200 million, and patients with lumbar disc herniation account for 15....

AI Technical Summary

Problems solved by technology

Although traditional robots are still active in the fields of industrial manufacturing services, the development of the times has made people's needs for production, life, entertainment, medical care and services increasingly novel. Traditional robots cannot meet these requirements in terms of structure, control and intelligence. People need more portable, more integrated, more intelligent robots, and require robots to be able to safely cooperate with people

However, robots that have been widely used in various fields generally have the following problems: (1) The large and heavy structure of the auxiliary rehabilitation machinery uses rigid steel and other materials, which cannot meet the man-machine coupling and comfort, and the load-to-weight ratio is low ; (2) The auxiliary rehabilitation work environment is specific and predictable, and the robot base can basically be fixed to complete the job tasks, lacking flexibility; (3) The degree of intelligence varies.

Some auxiliary equipment for lumbar spine rehabilitation have simple and extensive structures and functions, such as seat-type traction mechanism, which is intelligently fixed on the line for traction rehabilitation; there are relatively intelligent three-dimensional multifunctional traction beds, which have the advantage of being able to perform multi-posture rehabilitation training, and the disadvantages: the whole machine is bulky and requires assistance Personnel operation, fixed scene, the controller is installed in the control cabinet, the control lines are many and complicated externally, and generally equipped with a large control cabinet, the motor drive and motion planning are all realized by the control cabinet, this separate installation Resulting in cumbersome maintenance and many potential safety hazards

Images