Lower limb rehabilitation training robot

Abstract

The invention belongs to the field of rehabilitation medical equipment, and specifically designs a lower limb rehabilitation training robot. The lower limb rehabilitation training robot is composed ofa supporting mechanism, a rehabilitation movement mechanism and a driving system, wherein the supporting mechanism mainly comprises a base, a tailstock and guide rails; the rehabilitation movement mechanism is composed of a crank rocker mechanism, a cam oscillating bar mechanism and a rocker sliding block mechanism. The movement principle of a four-bar mechanism and the cam oscillating bar mechanism is sufficiently utilized to complete main training tasks, so that the lower limbs of a patient are driven to generate different training modes and a lower limb movement track path facilitating contraction and stretch, wherein the training modes comprise active training and passive training. The structure is flexible in movement, stable, reliable, simple in appearance, and low in price. The lower limb movement track path mimics the actions and postures of the real lower limbs to help the patient complete corresponding actions in life accurately, so that the lower limb rehabilitation training robot has wide market application prospects.

Description

technical field [0001] The invention belongs to the field of rehabilitation medical equipment, and specially designs a lower limb rehabilitation training robot, which can be used in the field of early rehabilitation technology for patients with cerebrovascular diseases, brain or spinal injuries and other central nervous injuries. Background technique [0002] With the continuous development of science and technology, the great breakthroughs in the above-mentioned disciplines and the development of medical devices are also advancing in an orderly manner. As a hot research direction in the field of medical devices in recent years, the lower limb rehabilitation training robot has received extensive attention, research and development in all countries in the world. [0003] In recent years, rehabilitation training robots have shown more and more advantages in scientific and effective rehabilitation training for patients. Early rehabilitation training can not only maintain the r...

AI Technical Summary

Problems solved by technology

[0005] At present, a small number of exoskeleton lower limb rehabilitation robots can approximate the normal walking gait of normal human limbs. However, most of the joint-driven lower limb rehabilitation training robots realize walking trajectories at the metatarsal bone of the ankle and the normal walking gait of the human body. There is still a certain deviation in the walking gait trajectory

This will cause patients to use such a rehabilitation training institution to be inconsistent with their normal gait after long-term training, causing the muscle movement pattern to be very different from the movement pattern in the original healthy state, which will eventually affect the effect of rehabilitation training

[0006] In order to solve the shortcomings of the existing technology, a new type of lower limb rehabilitation training robot that can realize normal gait trajectory is provided. Such a new type of lower limb rehabilitation training robot can meet the physical characteristics of the rehabilitation trainer. The purpose is to Solve the problem that the gait trajectory of rehabilitation training does not match the natural gait trajectory, so that it can generate a standard gait trajectory that matches the rehabilitation trainer, and complete the rehabilitation training action of the entire lower limb by driving the foot movement

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