A Flexible Ankle Joint Rehabilitation Robot System

Abstract

The invention discloses a flexible ankle joint rehabilitation robot system. The executive module is connected to the foot module through the lower leg module through the Bowden wire, and a tension module for measuring the transmission force of the Bowden wire is arranged between the lower leg module and the foot module; the lower leg module There is a calf gyroscope on the upper body, a foot gyroscope and a pressure insole are arranged on the foot module, a heel pressure sensor and a sole pressure sensor are arranged on the pressure insole, and the calf gyroscope and the foot gyroscope are respectively arranged on the user’s The front of the calf and the instep; the pressure insole is located inside the foot module, and the upper computer sends control commands to the execution module and receives sensor feedback information; the execution module transmits the torque to the foot module through the Bowden line through the calf module to assist the ankle Joint movement; the small foot gyroscope cooperates with the foot gyroscope to detect ankle joint movement information. The invention is light in weight and achieves the gait training function for users with abnormal gait of foot drop and foot inversion.

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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