Hybrid ankle joint training robot

Abstract

The invention relates to a hybrid ankle joint training robot. The hybrid ankle joint training robot comprises a base, a supporting frame, a moving platform, a pedal and four branch mechanisms connecting the supporting frame and the moving platform. A first rotational degree of freedom of the mechanism is formed by connecting the upper end of the base and the bottom of the supporting frame throughan arc sliding rail and an arc groove; the supporting frame and the moving platform as well as the four branch mechanisms form a parallel mechanism; the four branch mechanisms are distributed symmetrically relative to the moving platform and keep the synchronous motion of both sides; the four branch mechanisms enable the moving platform to be provide with a second rotational degree of freedom of the mechanism and one mobile degree of freedom of the mechanism; and the pedal is connected with the moving platform in series and can rotate around the axis perpendicular to the moving platform to realize a third rotational degree of freedom of the mechanism. The hybrid ankle joint training robot is stable in motion and compact in structure, independent in control and can independently realize various movements in ankle joint training. Moreover, monitoring and sensing devices are arranged in the important moving parts, so that the ankle training robot adapts to the different training modes andtraining intensity of different people.

Description

technical field [0001] The invention belongs to the field of ankle joint training, in particular to a hybrid ankle joint training robot capable of realizing three rotation degrees of freedom and one movement degree of freedom. Background technique [0002] With the aging population and frequent traffic accidents, the incidence of stroke is gradually increasing, and a high proportion of patients have lower limb motor dysfunction caused by foot drop. In addition, clubfoot varus / valgus is also a common orthopedic disease in juveniles and children, requiring ankle joint release and orthopedic surgery. In order to improve the motor function of the lower limbs and reconstruct the gait, the above-mentioned patients all need extensive and repetitive rehabilitation training for the ankle joint. The traditional rehabilitation training therapy is that rehabilitation therapists conduct one-on-one manual rehabilitation treatment for patients. The disadvantages are low efficiency, high l...

AI Technical Summary

Problems solved by technology

The traditional rehabilitation training therapy is that rehabilitation therapists perform one-on-one manual rehabilitation treatment on patients. The disadvantages are low efficiency, high labor intensity, lack of scientific and effective data monitoring and feedback, and it is difficult to numerically evaluate the rehabilitation status of patients.

In the prior art, most of the training devices use series mechanisms to realize the movement of the workbench, but the structural strength is often poor and the degree of freedom of movement is small; while the training devices using parallel mechanisms have improved strength, but the structure is complex and the volume is large. Difficult to package, some mechanisms are kinematically coupled and inconvenient to control, making it difficult for practical application

Images