Flexible ankle rehabilitation robot system

Abstract

The invention discloses a flexible ankle rehabilitation robot system. An execution module is connected with a foot module through a Bowden cable and a shank module, and a tension module for measuringtransmission force of the Bowden cable is arranged between the shank module and the foot module; a shank gyroscope is arranged on the shank module, a foot gyroscope and a pressure insole are arrangedon the foot module, a heel pressure sensor and a foot sole pressure sensor are arranged on the pressure insole, and the shank gyroscope and the foot gyroscope are arranged on the front face and the foot face of the shank of a user correspondingly; the pressure insole is located inside the foot module, sends a control instruction towards the execution module through an upper computer and receives sensing feedback information; the execution module transmits torque through the Bowden cable and the shank module to the foot module, so that ankle movement is assisted; and the shank gyroscope and thefoot gyroscope are mutually matched for detecting ankle motion information. The flexible ankle rehabilitation robot system is low in weight and achieves the gait training function for users with abnormal gaits of foot drop and strephenopodia.

Description

technical field [0001] The invention belongs to the technical field of medical rehabilitation training equipment, and in particular relates to a flexible ankle joint rehabilitation robot system. Background technique [0002] With the advent of China's aging society, there are more and more stroke patients. Acute onset and high mortality rate of stroke is one of the most important fatal diseases in the world, and the mortality rate of stroke also tends to increase with age. Due to the lack of effective treatment measures, stroke patients often have hemiplegia on one side of their limbs after a stroke. The lower limbs on the affected side have weak anti-gravity muscles and reduced weight-bearing capacity, so they rely more on the lower limbs on the healthy side for weight-bearing, which is manifested by a shortened support period of the single limb on the affected side, so that an asymmetric gait is formed. [0003] During the normal walking process of the human body, the en...

AI Technical Summary

Problems solved by technology

At present, most ankle rehabilitation robots mainly perform dorsiflexion and plantarflexion to assist patients with foot drop, and lack of varus correction mechanism

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