Interactive lower limb rehabilitation training system

Abstract

The invention relates to an interactive lower limb rehabilitation training system. The system comprises a wearable lower limb rehabilitation robot body and a weight reduction traction mechanism arranged above the wearable lower limb rehabilitation robot body. The weight reduction traction mechanism comprises a hanging plate which is arranged above the wearable lower limb rehabilitation robot and is fixed, an air cylinder and a first roller are fixedly installed on the hanging plate, the end of an air cylinder rod of the air cylinder is fixedly connected with a sliding block, a fixing shaft isinstalled on the side face of the sliding block, the end of the fixing shaft is connected with a second roller, and a guide rail groove is formed in the hanging plate and located in the guide rail groove. A body binding sleeve is arranged between the hanging plate and the wearable lower limb rehabilitation robot, a steel rope is wound around a first rolling wheel and a second rolling wheel, a balancing weight is installed at one end of the steel rope, and the other end of the steel rope is connected with the body binding sleeve. The steel rope always plays a longitudinal traction role on the body binding sleeve, transverse traction force cannot be applied to a rehabilitative person, and therefore the effect of reducing the leg pressure load of the rehabilitative person is truly achieved, and the using effect is very good.

Description

technical field [0001] The invention relates to the field of lower limb rehabilitation training, in particular to an interactive lower limb rehabilitation training system. Background technique [0002] Rehabilitation training robots are developed to restore the injured parts of patients. According to the theory of neuroplasticity, rehabilitation robots for repairing damaged parts have appeared, and are mainly used for rehabilitation training for patients who cannot walk due to stroke or spinal cord injury. . When the patient performs gait activities, the joint activities drive the whole body muscles to move, thereby gradually activating the whole body movement system. It is a rehabilitation training robot that can help the injured parts recover. [0003] There are many types of rehabilitation training robots at present, all of which adopt the structure of exoskeleton robots. Exoskeleton robots include wearable and fixed support types. The support plates on the exoskeleton r...

AI Technical Summary

Problems solved by technology

[0003] There are many types of rehabilitation training robots at present, all of which adopt the structure of exoskeleton robots. Exoskeleton robots include wearable and fixed support types. The support plates on the exoskeleton robot are hinged, and the support plates are connected to human thighs and legs through belts. The calf is bound and fixed, and the support plate has poor cushioning and supporting force on the human leg when it rotates relative to each other. This will easily cause the rehabilitated person to exert too much effort on the leg, and even cause secondary injuries.

In addition, since the support plates of the exoskeleton robot are in a hinged state, when the rehabilitation person wears the exoskeleton robot for leg rehabilitation training, if the rehabilitation person is in the early stage of rehabilitation, the leg joints need to be supported more, otherwise it is easy to cause For the problem of excessive leg exertion, the position of the support plate of the current wearable exoskeleton robot is hinged, and the mechanical joints have a certain buffer force through the torsion of the spring, but it is still unavoidable for the rehabilitation person to have excessive leg strength during the initial rehabilitation training. The problem of strenuous effort, and the upper limit of the load on the legs of the rehabilitated patients in the early stage of rehabilitation training and the later stage of rehabilitation training are different. Traditional wearable exoskeleton robots cannot meet the requirements of the rehabilitated patients in the early stage of rehabilitation training and the later stage of rehabilitation training.

[0004] Moreover, when the wearable exoskeleton robot is trained indoors, it needs to be equipped with a weight-reducing traction mechanism. Traction mechanism, one end of the steel wire on the weight-reducing traction mechanism is connected to the counterweight and the other end is connected to the body binding sleeve, and the body binding sleeve plays an upward pulling effect on the body of the rehabilitated person. During the training process, the steel rope tends to form an oblique connection angle with the body binding sleeve. In this case, the steel rope tends to generate horizontal traction on the body of the rehabilitated person, which is counterproductive, which is not conducive to the horizontal gait training of the rehabilitated person. The traction force is also greatly reduced. The main reason for this problem is that when the rehabilitation person moves, the steel rope cannot guarantee to maintain a positive and vertical traction state with the body binding sleeve.

Images