A flexible cable-driven horizontal lower limb rehabilitation robot

Abstract

The invention relates to a cable-driven horizontal lower limb rehabilitation robot, which belongs to medical equipment for robot-assisted lower limb rehabilitation. Including a pair of foot fixing mechanism and support mechanism; the foot fixing mechanism includes a foot rack, flexible cable guide mechanism, vertical driving mechanism, horizontal driving mechanism and ankle placement mechanism; the horizontal driving mechanism drives a pair of foot fixing mechanisms Sliding back and forth relative to the support mechanism; the vertical drive mechanism realizes the control of the vertical movement in the leg raising rehabilitation exercise through the flexible cable guide mechanism and the ankle placement mechanism. The present invention innovatively introduces the degree of freedom in the front and rear direction and adopts flexible cable drive to realize not only the lifting movement in the leg raising rehabilitation training exercise, but also the front and rear compensation movement, which can better simulate the leg raising action; The opening and closing auxiliary degrees of freedom of the legs can better complete the rehabilitation process of flexible lower limbs and achieve better rehabilitation effects. The invention has reasonable structural design, convenient assembly and disassembly, and low manufacturing cost.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a robot-assisted medical device for lower limb rehabilitation; it is applied to a lower limb rehabilitation robot to perform rehabilitation training, and more particularly relates to a robot auxiliary device based on flexible cable drive mode and having two degrees of freedom, specifically The invention relates to a cable-driven horizontal lower limb rehabilitation robot and a rehabilitation training method. Background technique [0002] Before robots were used in the field of medical rehabilitation, paralyzed patients could only use traditional rehabilitation methods for rehabilitation training, that is, they could only conduct rehabilitation training through the full care and face-to-face guidance of rehabilitation physicians and nurses. This requires a large number of rehabilitation physicians and nurses. In fact, it is impossible for the number of rehabilitation ph...

AI Technical Summary

Problems solved by technology

There are already various styles of lower limb rehabilitation robots on the market, but most of them are rigidly connected, and their movement process is mostly rigid. For the dynamic process of lower limb rehabilitation training, rigidly connected rehabilitation robots cannot well meet the needs of rehabilitation training. requirements, its adaptability is limited

For example, Nustep in the United States and THERA-Vital in Germany are pedal-type lower limb rehabilitation robots. This rehabilitation robot usually uses a pair of pedals to contact the patient's feet, and uses the pedals to drive the feet to do reciprocating movements. This type Most of the lower limb rehabilitation robots are single-degree-of-freedom, which cannot simulate the actual movement of the legs very well.

There are also some rehabilitation robots that improve this deficiency, such as the lower limb rehabilitation robot MotionMaker developed by Swiss SWORTEC company, but the lower limb rehabilitation robot MotionMaker still cannot realize the forward and backward movement and opening and closing movement of the legs

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