Wearable biological merging lower limb rehabilitation robot

Abstract

The invention discloses a wearable biological merging lower limb rehabilitation robot. The wearable biological merging lower limb rehabilitation robot comprises a hip joint connecting device, knee joint connecting devices, ankle joint connecting devices and a weight reducing device, wherein the hip joint connecting device, the knee joint connecting devices and the ankle joint connecting devices are sequentially connected and worn on the lower limbs of a human body; and the weight reducing device is configured to be used for hanging the upper half body of the human body and the rehabilitation robot to alleviate the weight of the rehabilitation device applied to the human body. According to the wearable biological merging lower limb rehabilitation robot disclosed by the invention, the rehabilitation effect of lower limbs is improved; the rehabilitation devices at the knee joints adopt a biological merging idea, and the knee joints as a part of the mechanism are analyzed, so that the wearable biological merging lower limb rehabilitation robot is attached to the moving law of the knee joints of the human body, and the bionic performance is good; and besides, the rehabilitation devicesat the knee joints belong to parallel mechanisms which are completely coupled, and compared with a coupling parallel mechanism, the parallel mechanisms are simpler and more convenient to control.

Description

technical field [0001] The invention relates to the technical field of medical devices, in particular to a wearable bio-fusion lower limb rehabilitation robot. Background technique [0002] Rehabilitation robots mainly assist the elderly and patients with motor dysfunction to achieve basic movements, and can also enhance the human body's ability to exercise. Wearable exoskeleton rehabilitation robots are typical representatives, mainly used to assist the disabled, the elderly, and patients with lower limb motor dysfunction to achieve rehabilitation training, or assist the disabled to walk normally. Rehabilitation robots have greatly influenced the development of rehabilitation medicine, provided convenience for patients' daily life, fundamentally improved the quality of life, and reduced social burden. 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. Therefore, it is particularly importa...

AI Technical Summary

Problems solved by technology

[0003] Although a variety of lower limb rehabilitation robots currently appearing have their own characteristics and have improved the efficiency and effect of lower limb rehabilitation to a certain extent, they also have some shortcomings: from the anatomy of the knee joint, the relative motion between the femur and the tibia is Compound motion of scrolling and sliding

However, since the center of rotation is located inside the mechanical mechanism and cannot coincide with the center of the knee joint in space, the position of the knee joint changes continuously during the lower limb rehabilitation exercise, resulting in a misplacement of the center of rotation

The movement of the knee joint of the lower extremity is completely determined by the machine, and the human body cannot affect the rehabilitation movement from the institutional level, which is poor in safety

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