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Metamorphic parallel mechanism for rehabilitation of ankle joints

An ankle joint and parallel technology, which is applied in passive exercise equipment, physical therapy, etc., can solve the problem that the parallel mechanism of ankle joint rehabilitation has a single configuration, less controllable degrees of freedom, and it is difficult to meet the needs of patients with fixed degrees of freedom and fixed configurations. And other issues

Inactive Publication Date: 2019-11-19
CHANGSHA UNIVERSITY OF SCIENCE AND TECHNOLOGY
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Problems solved by technology

[0004] However, the ankle joint rehabilitation parallel mechanism currently applied to the human body has a single configuration and few controllable degrees of freedom. The fixed degree of freedom and fixed configuration are difficult to meet the needs of patients in different rehabilitation stages for different motion states of the ankle joint, which is not conducive to quickly achieving good results. The rehabilitation effect

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  • Metamorphic parallel mechanism for rehabilitation of ankle joints

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Embodiment Construction

[0016] In order to facilitate the understanding of those skilled in the art, the present invention will be further described in detail below in conjunction with the drawings and specific embodiments.

[0017] Such as figure 1 As shown, a parallel mechanism for ankle joint rehabilitation includes a base 1, a moving platform 2, a first kinematic branch chain 3 and a second kinematic branch chain 4, and the three first kinematic branch chains 3 are symmetrically distributed at 120° On the base 1, it is connected to the moving platform 2 in a 120° symmetrical distribution through the first ball pair 301, the first moving pair 302 and the second ball pair 303 respectively; the second motion branch chain 4 are distributed in the center of the base 1, and are connected to the center of the moving platform 1 through the second moving sub-mechanism 401 and the third ball sub-mechanism 402 in sequence.

[0018] Such as figure 1 As shown, the moving platform 2 includes a moving platfor...

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Abstract

The invention discloses a metamorphic parallel mechanism for rehabilitation of ankle joints. The metamorphic parallel mechanism comprises a foundation, a moving platform, three first moving branched chains and a second moving branched chain. The metamorphic parallel mechanism is characterized in that the three first moving branched chains are distributed on the foundation in a 120-degree symmetrymanner, and are respectively, sequentially and symmetrically connected with the moving platform in a 120-degree symmetry distribution manner through a first spherical joint, a first moving auxiliary mechanism and a second spherical joint; and the second moving branched chain is distributed in the center of the foundation, and is connected with the center of the moving platform through a second moving auxiliary mechanism and a third spherical joint. According to the metamorphic parallel mechanism disclosed by the invention, based on the metamorphic principle, the second moving auxiliary mechanism is locked or driven, so that switching of 3SPS / PS movement and 3SPS / S movement can be realized, and the power-assisting requirements of different rehabilitation stages of a patient of which the ankle joint is injured can be better met.

Description

technical field [0001] The invention relates to the field of rehabilitation medical equipment, and specifically designs a metamorphic parallel mechanism for ankle joint rehabilitation. Background technique [0002] Ankle joint injury is a common bone and joint injury. The micro-adjustment hub of the human body's walking gait and balance lies in the ankle joint. Rehabilitation training for the ankle joint is of great significance to patients. Since entering the 21st century, my country's aging population has become increasingly serious. Due to senile diseases such as stroke and rheumatoid arthritis, patients with limb movement disorders caused by sudden car accidents and accidental sprains need timely rehabilitation training. The workload of medical staff can improve the training effect and alleviate the patient's condition. Ankle joint rehabilitation training is carried out with training devices. Therefore, the research on rehabilitation robot mechanism has higher and higher ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H1/02
CPCA61H1/0266A61H2201/1253A61H2201/165A61H2205/12
Inventor 陈耿彪易宽寒肖翊
Owner CHANGSHA UNIVERSITY OF SCIENCE AND TECHNOLOGY
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